Study on Path Control Scheme for Vision Guided Micro Manipulation System

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  • OJIMA Hirotaka
    Department of Intelligent Systems Engineering, Ibaraki University
  • ASANO Hiroyuki
    Graduate School of Science and Engineering, Ibaraki University
  • SHIMIZU Genki
    Graduate School of Science and Engineering, Ibaraki University
  • ZHOU Libo
    Department of Intelligent Systems Engineering, Ibaraki University
  • SHIMIZU Jun
    Department of Intelligent Systems Engineering, Ibaraki University
  • EDA Hiroshi
    Department of Intelligent Systems Engineering, Ibaraki University

Abstract

<p>In bioengineering, cell manipulations are manually done by skilled operators currently. 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. In this paper, a path control scheme using potential approach and configuration space is newly proposed to automatically generate the tool path for moving. The performance of the new control scheme is demonstrated in a field test.</p>

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