Automatic vision-guided robotic cell micromanipulation system

• Main Author: Zhang, Yanliang
• Other Authors: Ang Wei Tech
• Format: Theses and Dissertations
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Mechanical engineering::Control engineering
• Online Access: https://hdl.handle.net/10356/41538
• Institution: Nanyang Technological University

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.