Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots.

ABSTRACT: Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating multiple microrobots simultaneously and positioning them at precise locations relative to micro-objects under manipulation. A vision-assisted grasp-planning application was developed and used to calculate the necessary trajectories of the microrobots to form cages around micro-objects. The location of the microrobots and the micro-objects was detected at the caging locations using a particle-tracking application

SUBMITTER: Rahman MA 

PROVIDER: S-EPMC5662703 | biostudies-literature | 2017

REPOSITORIES: biostudies-literature