Uncalibrated vision-based control for optical manipulation of microscopic particles
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 metho...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2014
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/101815 http://hdl.handle.net/10220/18721 http://rpsonline.com.sg/proceedings/9789810777449/html/031.xml |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | 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. |
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