Landmark Based Sensing and Positioning in Robotic Nano Manipulation
文献类型：会议论文
| 作者 | Liu LQ(刘连庆) ; Wang YC(王越超); Dong ZL(董再励); Wejinya, Uchechukwu C.
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| 出版日期 | 2009 |
| 会议日期 | February 22-25, 2009 |
| 会议地点 | Bangkok, THAILAND |
| 关键词 | Nanoassembly Robotic Landmark Based Positioning Local Scan |
| 页码 | 37-42 |
| 英文摘要 | AFM based nanomanipulation is still hindered by large spatial uncertainties encountered in tip positioning caused by PZT nonlinearity and thermal drift. In this paper, a landmark based positioning method is proposed to solve these problems. Its pivotal idea is that the tip position is described in a feature based landmark coordinate instead of length based Descartes coordinate. During manipulation, the landmarks selected from surface features, which is sensed through the new developed local scan method, acts as coordinate reference for tip localization. In this way, the positioning error aroused from PZT nonlinearity and thermal drift can be effectively suppressed. The details about landmark selecting, sensing, identifying will be discussed. Experiments of nanoparticle manipulation are presented to demonstrate the efficiency and effectiveness of the proposed method. |
| 源文献作者 | IEEE Robot & Automat Soc |
| 产权排序 | 1 |
| 会议录 | 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2678-2 |
| WOS记录号 | WOS:000271966900007 |
| 源URL | [http://ir.sia.cn/handle/173321/8754]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu LQ(刘连庆) |
| 作者单位 | 1.Depart. of Mechanical Engineering, University of Arkansas, United States 2.State Key Laboratory of Robotics, Chinese Academy of Sciences, China 3.Depart. of Electrical and Computer Eng., Michigan State University, United States 4.Graduate School of Chinese Academy of Sciences, China |
| 推荐引用方式 GB/T 7714 | Liu LQ,Wang YC,Dong ZL,et al. Landmark Based Sensing and Positioning in Robotic Nano Manipulation[C]. 见:. Bangkok, THAILAND. February 22-25, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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