Pose Control of Millimeter-Scale Objects in a Laser-Powered Thermocapillary Manipulation Platform

The miniaturization of technological components requires tools capable manipulating them. Noncontact micromanipulation has recently gained popularity since it minimizes component damage and adhesion problems. However, the simultaneous position orientation (pose) control using noncontact remains an open challenge. In this work, we propose pose millimeter-scale structures at air–water interface laser-powered thermocapillary flows. We achieve autonomous by steering two laser spots around structure in a closed-loop manner. controller consists linear model inversion. defines required force torque to reach target. inversion positions obtain said torque. This is performed with optimization algorithm, without any prescribed strategy. stabilization was validated experimentally, obtaining precision 0.15 body lengths $2^{\circ }$ , respectively. Additionally, show experimental path-following independent control, similar precision.