Study on Path Control Scheme by Laplacian Potential Field and Configuration Space for Vision Guided Micro Manipulation System

Hirotaka Ojima; Yoshitaka Yanai; Li Bo Zhou; Jun Shimizu

doi:10.4028/www.scientific.net/AMR.76-78.725

Paper Titles

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Micro-Raman Stress Investigation of Polycrystalline Diamond Compact (PDC)
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Low Cost Wear Monitoring of Bearing Shell in Connecting Rod via I-kaz Method
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High Temperature Interfacial Reaction between Glass Gobs and Sol-Gel Coated Al₂O₃ Films
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The Effects of Shear Stress on the Lubrication Performances of Oil Film of Large-Scale Mill Bearing
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Study on Mechanical Properties and Size Effect of Si₃N₄ Using Discrete Element Method
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Study on Path Control Scheme by Laplacian Potential Field and Configuration Space for Vision Guided Micro Manipulation System
p.725

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 76-78Study on Path Control Scheme by Laplacian...

Study on Path Control Scheme by Laplacian Potential Field and Configuration Space for Vision Guided Micro Manipulation System

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.