基于视觉伺服控制的自主微型机器人操作。

Autonomous Microrobotic Manipulation Using Visual Servo Control.

作者信息

Feemster Matthew, Piepmeier Jenelle A, Biggs Harrison, Yee Steven, ElBidweihy Hatem, Firebaugh And Samara L

机构信息

Weapons, Robotics, and Control Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA.

Electrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA.

出版信息

Micromachines (Basel). 2020 Jan 24;11(2):132. doi: 10.3390/mi11020132.

DOI:10.3390/mi11020132

PMID:31991607

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7074596/

Abstract

This describes the application of a visual servo control method to the microrobotic manipulation of polymer beads on a two-dimensional fluid interface. A microrobot, actuated through magnetic fields, is utilized to manipulate a non-magnetic polymer bead into a desired position. The controller utilizes multiple modes of robot actuation to address the different stages of the task. A filtering strategy employed in separation mode allows the robot to spiral from the manipuland in a fashion that promotes the manipulation positioning objective. Experiments demonstrate that our multiphase controller can be used to direct a microrobot to position a manipuland to within an average positional error of approximately 8 pixels (64 µm) over numerous trials.

摘要

本文描述了一种视觉伺服控制方法在二维流体界面上对聚合物微珠进行微机器人操作中的应用。利用通过磁场驱动的微机器人将非磁性聚合物微珠操纵到期望位置。控制器利用机器人的多种驱动模式来处理任务的不同阶段。在分离模式中采用的一种滤波策略使机器人能够以有助于操纵定位目标的方式从操作对象处螺旋离开。实验表明，我们的多阶段控制器可用于在多次试验中引导微机器人将操作对象定位到平均位置误差约为8像素（64微米）的范围内。