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dc.contributor.authorLi, X.en
dc.contributor.authorCheah, Chien Chernen
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
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
dc.description.sponsorshipASTAR (Agency for Sci., Tech. and Research, S’pore)en
dc.format.extent6 p.en
dc.rights© 2013 ISRM.en
dc.subjectDRNTU::Engineering::Electrical and electronic engineeringen
dc.titleUncalibrated vision-based control for optical manipulation of microscopic particlesen
dc.typeConference Paperen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen
dc.contributor.conferenceIFToMM International Symposium on Robotics and Mechatronics (3rd : 2013 : Singapore)en
dc.description.versionAccepted versionen
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