Sensor referenced guidance and control for robotic nanomanipulation
文献类型：会议论文
| 作者 | Liu LQ(刘连庆) ; Luo, Yilun; Zhang JB(张江波); Li GY(李广勇)
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| 出版日期 | 2007 |
| 会议日期 | October 29 - November 2, 2007 |
| 会议地点 | San Diego, CA |
| 页码 | 584-589 |
| 英文摘要 | Atomic Force Microscope (AFM) has been used as a manipulation tool for a decade. The problem of lacking real time visual feedback still limits its efficiency and hinders its wide application. Although the model based visual feedback can partly solve this problem, due to the complexity of nano environment, it is difficult to use a model to accurately describe the object's behavior. The modeling error will give the operator a false feedback and lead to a failed manipulation. In this paper, a strategy for visual feedback error on-fine detection and correction is proposed to solve this problem. As the real time force information is a key factor for this strategy, an adaptable end effector is employed to accurately measure the interaction force between the probe and the nano-objects, and the system error is also compensated to improve the accuracy of interaction force measurement Based on the true real time force information, an extended Kalman filter is developed to online detect whether there is a false feedback. Once a false feedback is detected, an optimal searching pattern is generated to get the real manipulation result in a short time. With the assistance of this strategy, the false visual feedback can be real-time detected and corrected without interrupting manipulation. Complex manipulation task can be finished without being interrupted by a new image scan. Experiments of manipulating nano-particles are performed to verify the effectiveness of this strategy, which demonstrated the improved efficiency of the AFM based nano-assembly system. |
| 源文献作者 | IEEE, RSJ |
| 产权排序 | 1 |
| 会议录 | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0911-2 |
| WOS记录号 | WOS:000254073200092 |
| 源URL | [http://ir.sia.cn/handle/173321/8868]  |
| 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.Dept. of Electrical and Computer Engineering, University of Pittsburgh, Pittsburgh, PA 15621, United States 2.Dept. of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, United States 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China 4.Graduate School, Chinese Academy of Sciences, Beijing 100001, China |
| 推荐引用方式 GB/T 7714 | Liu LQ,Luo, Yilun,Zhang JB,et al. Sensor referenced guidance and control for robotic nanomanipulation[C]. 见:. San Diego, CA. October 29 - November 2, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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