High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand
High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand
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DOI：
10.1109/tie.2014.2347004
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发表时间：
2015-02-01
影响因子：
7.7
通讯作者：
Arai, Tatsuo
中科院分区：
文献类型：
--
作者：
Avci, Ebubekir;Ohara, Kenichi;Arai, Tatsuo
在本文中，我们提出了一种高速拾取和放置方法的细胞组装应用。除了运动范围和精度之外，操纵系统的敏捷性也是一个重要参数，但迄今为止在文献中一直被低估。为了开始高速微操作，快速获得目标微物体和末端执行器的3-D位置是必要的。控制在高速下更大的末端执行器的残余振动是另一项艰巨的任务。在微尺度下成功释放物体也是有要求的。我们提出了一种新的快速检测算法的目标微物体和末端执行器，这将使我们能够实现高速控制的系统。此外，为了实现非常快速的运动的稳定抓持，系统的振动被补偿，并且在执行释放任务的同时将可控的振动施加到末端执行器。的microhand系统的高速控制证明与广泛的实验组成的拾放动作的40-60 μ m的微球，我们的目标是在1秒内执行任务。与同类研究的比较表明，所提出的自动化高速微操作系统的优势。
In this paper, we present a high-speed pick-and-place method for cell-assembly applications. In addition to the range of motion and accuracy, the agility of a manipulation system is an important parameter, but it has been so far underrated in the literature. To begin highspeed micromanipulation, obtaining 3-D positions of both the target microobject and the end effector rapidly is necessary. Controlling the residual vibration of the end effector, which is greater at high speed, is another arduous task. Successful releasing of objects in microscale is also demanding. We propose a new fast detection algorithm for both the target microobject and the end effector, which will enable us to achieve high-speed control of the system. Moreover, to realize stable grasping for very fast movements, the vibration of the system is compensated, and a controllable vibration is applied to the end effectors while performing the releasing task. High-speed control of the microhand system is demonstrated with extensive experiments consisting of pick-and-place actions of 40-60 mu m microspheres; we aimed at performing the task in 1 s. A comparison with similar studies shows the advantage of the proposed automated high-speed micromanipulation system.