Study on Path Control Scheme by Laplacian Potential Field and Configuration Space for Vision Guided Micro Manipulation System |
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| Journal | Advanced Materials Research (Volumes 76 - 78) |
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| Volume | Advances in Abrasive Technology XII |
| Edited by | Han Huang, Liangchi Zhang, Jun Wang, Zhengyi Jiang, Libo Zhou, Xipeng Xu and Tsunemoto Kuriyagawa |
| Pages | 725-730 |
| DOI | 10.4028/www.scientific.net/AMR.76-78.725 |
| Citation | Hirotaka Ojima et al., 2009, Advanced Materials Research, 76-78, 725 |
| Online since | June, 2009 |
| Authors | Hirotaka Ojima, Yoshitaka Yanai, Li Bo Zhou, Jun Shimizu |
| Keywords | Configuration Space, Micro Manipulator, Path Control, Potential Approach, Vision Guided |
| Abstract | . In current bio-engineering, most cell manipulations are manually done by skilled operators. The operations are tedious and time consuming, yet with very low yield rate. The cell manipulation is highly expected to be automated. In this research, we have developed an automated micro-manipulation system, in which a vision control scheme has been proposed and implemented for feedback control of the tool position and tool path. In this paper, a path control scheme using potential approach with configuration space and Laplacian potential field is newly proposed to automatically generate the tool path for moving. The performance of the new control scheme is demonstrated with simulation. |
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