Force and Position Control of the Pneumatic Cylinders through a Microscope with a CCD Camera

Abstract:

In this paper, the pneumatic driven manipulation system is driven by the pneumatic cylinders. The proposed system is built by the designed pneumatic force control system and the microscope, which is integrated with the control interface. Firstly, the characteristics of the pneumatic force control system are measured as the proportional pressure control valve. In accordance with these nonlinear characteristics, a self tuning fuzzy controller with a dead zone compensator is designed to improve precision of the pneumatic force control system. From experimental results, the force error can be controlled within ±1 mN. Next, the real-time image is captured by the microscope with a 1/2 type CCD camera. Through designed image processing, image tracking and image recognition, visual image is used to define the position a probe tip. The distance between the target position and a probe tip can be calculated. Finally, the force control of the pneumatic force control system, calculating the distance between the target position and a probe tip, the control processes are integrated with designed the control interface. Visual C++ code from MFC is used to finish the control interface. From experimental results, the position error can be controlled within ± 1 pixel.

• Periodical: Applied Mechanics and Materials (Volumes 284-287)
• Pages: 1856-1861
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.284-287.1856
• Online since: January 2013
• Authors: Hung I Chen, Ming Chang Shih
• Keywords: Fuzzy Control, Servo Pneumatic, Visual Servo

References

[1] Y. Zhou, B.J. Nelson, and B. Vikramadita, Interagting Optical Force Sensing with Visual Servoing for Microassembly, Journal of Intelligent and Robotic Systems. 28 (2000), 259-276.

[2] H. Yamamoto and T. Sano, Study of Micromanipulation Using Stereoscopic Microscope, IEEE Transactions on Industrial and Measurement. 51 (2002), 182-187.

DOI: 10.1109/19.997809

[3] Y.H. Anis, M.R. Holl and D.R. Meldrum, Automated Selection and Placement of Single Cells Using Vision-Based Feedback Control, IEEE Transactions on Automation Science and Engineering. 4 (2010), 598-606.

DOI: 10.1109/tase.2009.2035709

[4] P.R. Ouyang, W.J. Zhang, M. Madan and W. Zhao, Overview of the development of a visual based automated bio-micromanipulation system, Journal of Mechatronics. 17 (2007), 578–588.

DOI: 10.1016/j.mechatronics.2007.06.002

[5] Y. Zhang and K.K. Tan, Vision-Servo System for Automated Cell Injection, IEEE Transactions on Industrial Electronics. 56 (2009), 231-238.

DOI: 10.1109/tie.2008.925771

[6] H. Thielecke, H. Zimmermann and G.R. Fuhr, Gentle cell handling with an ultra-slow instrument: creep-manipulation of cells, Microsyst Technol. 11 (2005), 1230–1241.

DOI: 10.1007/s00542-005-0584-7

[7] S. Ning and G.M. Bone, High Steady-State Accuracy Pneumatic Servo Positioning System with PVA/PV Control and Friction Compensation, Proceedings-IEEE International Conference on Robotics and Automation. 3 (2002), 2824-2829.

DOI: 10.1109/robot.2002.1013660

[8] M.C. Shih, and K.R. Pai, Nanoaccuracy Position Control of A Pneumatic Cylinder Driven Table, International Journal of JSME, Series C. 46 (2003), 1062-1068.

DOI: 10.1299/jsmec.46.1062