Automatic vision-guided robotic cell micromanipulation system
Date of Issue2010
School of Mechanical and Aerospace Engineering
Robotics Research Centre
In life science research and applications such as cell mechanobiology, cell micromanipulation is skill-intensive, involving cell immobilization, micropipette positioning, cell biomembrane deformation and penetration, etc. The imprecise and inconsistent positioning in manual cell micromanipulation and biomembrane stress control demands a vision-guided robotic system to achieve high-accuracy static position control and dynamic motion tracking. This dissertation emphasizes the various techniques in realizing the aforementioned system. Calibration of a vision system is necessary to ensure accurate coordinate systems transformation. Automatic self-calibration without the aid of calibration templates is proposed to achieve on-line calibration for real-time applications. The difference between the measured output and computed output after calibration is less than the physical resolution of the vision system.
DRNTU::Engineering::Mechanical engineering::Control engineering