NDLI: High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand

Content Provider	IEEE Xplore Digital Library
Author	Avci, E. Ohara, K. Chanh-Nghiem Nguyen Kojima, M. Tanikawa, T. Mae, Y. Arai, T.
Copyright Year	1982
Abstract	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 high-speed 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 μm 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.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	1070
Ending Page	1079
Page Count	10
File Size	1692151
File Format	PDF
ISSN	02780046
Volume Number	62
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	End effectors Vibrations Actuators Three-dimensional displays Lenses Search problems Detection algorithms vibration control Fast micromanipulation high-speed sensing mechanism releasing by vibration
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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