dc.contributor.authorLi, X.
dc.contributor.authorCheah, Chien Chern
dc.identifier.citationLi, X., & Cheah C. C. (2013). Uncalibrated vision-based control for optical manipulation of microscopic particles. Proceedings of the 3rd IFToMM International Symposium on Robotics and Mechatronics, 1-10.en_US
dc.description.abstractVision is a useful information for manipulation tasks since it provides a large spectrum of details about the environment. The visual feedback information can be used to guarantee the manipulation accuracy and improve robustness to uncertainty. In this paper, a vision-based adaptive control method is proposed for micromanipulation using optical tweezers. A general model of robotic manipulator is introduced in the optical tweezers system so that the movement of the laser beam is controlled by vision-based closed-loop robotic manipulation techniques. A new adaptive Jacobian controller is proposed for the regulation problem in presence of camera calibration errors. The stability of the closed-loop system is analyzed with consideration of the dynamics of both the particle and the robotic manipulator. Simulations are presented to illustrate the performance of the proposed method.en_US
dc.description.sponsorshipASTAR (Agency for Sci., Tech. and Research, S’pore)en_US
dc.format.extent6 p.en_US
dc.rights© 2013 ISRM.en_US
dc.subjectDRNTU::Engineering::Electrical and electronic engineering
dc.titleUncalibrated vision-based control for optical manipulation of microscopic particlesen_US
dc.typeConference Paper
dc.contributor.conferenceIFToMM International Symposium on Robotics and Mechatronics (3rd : 2013 : Singapore)en_US
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.description.versionAccepted versionen_US

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