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Open AccessArticle

Autonomous Microrobotic Manipulation Using Visual Servo Control

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Weapons, Robotics, and Control Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA
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Electrical and Computer Engineering Department, United States Naval Academy, Annapolis, MD 21402, USA
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Author to whom correspondence should be addressed.
Micromachines 2020, 11(2), 132; https://doi.org/10.3390/mi11020132
Received: 27 November 2019 / Revised: 21 January 2020 / Accepted: 22 January 2020 / Published: 24 January 2020
This describes the application of a visual servo control method to the microrobotic manipulation of polymer beads on a two-dimensional fluid interface. A microrobot, actuated through magnetic fields, is utilized to manipulate a non-magnetic polymer bead into a desired position. The controller utilizes multiple modes of robot actuation to address the different stages of the task. A filtering strategy employed in separation mode allows the robot to spiral from the manipuland in a fashion that promotes the manipulation positioning objective. Experiments demonstrate that our multiphase controller can be used to direct a microrobot to position a manipuland to within an average positional error of approximately 8 pixels (64 µm) over numerous trials.
Keywords: autonomous robots; micromanipulators; mobile robots; robot control; microassembly autonomous robots; micromanipulators; mobile robots; robot control; microassembly
MDPI and ACS Style

Feemster, M.; Piepmeier, J.A.; Biggs, H.; Yee, S.; ElBidweihy, H.; Firebaugh, S.L. Autonomous Microrobotic Manipulation Using Visual Servo Control. Micromachines 2020, 11, 132.

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