Fusing Force and Vision Feedback for Micromanipulation
نویسندگان
چکیده
In this paper we present experimental results that investigate the integration of two disparate sensing modalities, force and vision, for sensor-based microassembly. By integrating these sensing modes, we are able to provide feedback in a task-oriented frame of reference over a broad range of motion with an extremely high precision. An optical microscope is used to provide visual feedback down to micron resolutions. We have developed an optical beam deflection sensor (based on a modijied atomic force microscope) to provide nanonewton level force feedback or nanometric level position feedback. The value of integrating these two disparate sensing modalities is demonstrated during controlled micropart impact experiments. Using force feedback alone to control micropart contact transitions, impact forces of over 140nN were generated before the desired contact force of 2nN was achieved. When visual servoing is integrated with the force control framework, micropart impact forces of only 9nN and jinal contact forces of 2nN were easily achieved.
منابع مشابه
Novel Estimation and Control Techniques in Micromanipulation Using Vision and Force Feedback
With the recent advances in the fields of micro and nanotechnology, there has been growing interest for complex micromanipulation and microassembly strategies. Despite the fact that many commercially available micro devices such as the key components in automobile airbags, ink-jet printers and projection display systems are currently produced in a batch technique with little assembly, many othe...
متن کاملForce Feedback Pushing Scheme for Micromanipulation Applications
Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing through the center of mass of the micro-object may not yield a pure translational motion. In order to translate a micro-objec...
متن کاملMicrorobotics for Molecular Biology: Manipulating Deformable Objects at the Microscale
Recent advances in molecular biology such as cloning demonstrate that increasingly complex micromanipulation strategies for manipulating individual biological cells are required. From a robotics standpoint, the manipulation of biological cells, sometimes referred to as biomanipulation, presents several interesting research issues that extend well beyond cell manipulation. Biological cells are h...
متن کاملVision-based force sensing at nanonewton scales
When assembling MEMS devices or manipulating biological cells it is often beneficial to have information about the force that is being applied to these objects. This force information is difficult to measure at these scales and up to now has been implemented using laser-based optical force measurement techniques or piezoresistive devices. In this paper we demonstrate a method to reliably measur...
متن کاملMved (micro Vacuum Electronic Devices) 193-nm Lithography 3d Micro/nanomanipulation with Force Spectroscopy
Amicromanipulation system is a robotic device which is used to physically interact with a sample under a microscope, where a level of precision of movement is necessary that cannot be achieved by the unaided human hand It is well known that pick-and-place is very important for 3-D microstructure fabrication since it is an indispensable step in the bottom-up building process. The main difficulty...
متن کامل