A Strategy for Vision-Based Controlled Pushing of Microparticles
N.A. Lynch, C. Onal, E. Schuster, and M. Sitti
IEEE International Conference on Robotics and Automation
Roma, Italy, April 10-14, 2007
Abstract
|
|
In this paper, a strategy for controlled pushing is
presented for microassembly of 4.5 micro-m polystyrene particles on
a flat glass substrate using an atomic force microscope probe
tip. Real-time vision based feedback from a CCD camera
mounted to a high resolution optical microscope is used to
track particle positions relative to the tip and target position.
Tip-particle system is modeled in 2D as a non-holonomic
differential drive robot. Effectiveness of the controller is
demonstrated through experiments performed using a single
goal position as well as linking a series of target positions to
form a single complex trajectory. Cell decomposition and
wavefront expansion algorithms are implemented to
autonomously locate a navigable path to a specified target
position. Control strategy alleviates problem of slipping and
spinning during pushing.