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Title: Uncalibrated vision-based control for optical manipulation of microscopic particles
Authors: Li, X.
Cheah, Chien Chern
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2013
Source: Li, 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.
Abstract: Vision 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.
Rights: © 2013 ISRM.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Conference Papers

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