Contact Detection In Microrobotic Manipulation  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 8 (Aug. 2007), page 821-828.
Topik: microrobotic manipulation; contact detection; computer vision microscopy
Fulltext: 821.pdf (704.65KB)

Isi artikel

This paper presents a computer vision-based method for visually detecting the contact between an end-effector and a target surface under an optical microscope during microrobotic manipulation.Without using proximity or force/touch sensors, this method provides a submicrometer detection accuracy and possesses robustness. Fundamentally, after the establishment of contact in the world frame, further vertical motion of the end-effector (flexible or stiff) induces horizontal motion in the image plane. Contact between a micropipette tip and a glass slide in the scenario of microrobotic cell manipulation is used as an example to elaborate on the detection method. Experimental results demonstrate that the computer vision-based method is capable of achieving contact detection between the micropipette and the glass slide surface with an accuracy of 0.2 m. Furthermore, 1000 experimental trials reveal that the presented method is robust to variations in illumination intensity, microscopy magnification, and microrobot motion speed.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali