Vision-Based Feedback Strategy for Controlled Pushing of Microparticles
N.A. Lynch, C.D. Onal, E. Schuster and M. Sitti
Journal of Micro-Nano Mechatronics, Volume 4, Issue 1, pp 73-83, November 2008
Abstract
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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.