TY - GEN
T1 - Rail-guided robotic system for multi-configuration cooperative micromanipulation based on formation control
AU - Hu, Haojun
AU - Wang, Huaping
AU - Shi, Qing
AU - Tao, Han
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - The microrobotic manipulation system with multi-manipulator offers more possibilities for dexterous operations under mesoscale. However, most of the microrobots specialize in single task for specific targets with limited size, type and related environment, which can-not meet the demand of multi-process tasks. In this paper, we present a novel multi-configuration cooperative microrobotic manipulation system where multi-manipulator are guided by a rail. With the help of the circular rail and hybrid actuation, it can realize the arbitrary change of end-effector posture without sweeping out of field of view and achieve multiscale cooperation with positioning resolution around 0.20μ m. Through combining with the leader-follower and artificial potential field strategies, the system can switch three different configurations: single-ended, double-ended and triple-ended, which adapt to different processes of one task and achieve the high integration of tasks. Experimental results indicated that compared with traditional single-manipulator or multi-manipulator microrobotic manipulation system, our system can not only achieve high-precision translation and self-rotation for pose change, but also grasp a wide size range of micro-targets between 70μm and 1000μm, and release high viscosity micro-targets effectively.
AB - The microrobotic manipulation system with multi-manipulator offers more possibilities for dexterous operations under mesoscale. However, most of the microrobots specialize in single task for specific targets with limited size, type and related environment, which can-not meet the demand of multi-process tasks. In this paper, we present a novel multi-configuration cooperative microrobotic manipulation system where multi-manipulator are guided by a rail. With the help of the circular rail and hybrid actuation, it can realize the arbitrary change of end-effector posture without sweeping out of field of view and achieve multiscale cooperation with positioning resolution around 0.20μ m. Through combining with the leader-follower and artificial potential field strategies, the system can switch three different configurations: single-ended, double-ended and triple-ended, which adapt to different processes of one task and achieve the high integration of tasks. Experimental results indicated that compared with traditional single-manipulator or multi-manipulator microrobotic manipulation system, our system can not only achieve high-precision translation and self-rotation for pose change, but also grasp a wide size range of micro-targets between 70μm and 1000μm, and release high viscosity micro-targets effectively.
UR - http://www.scopus.com/inward/record.url?scp=85115360576&partnerID=8YFLogxK
U2 - 10.1109/RCAR52367.2021.9517534
DO - 10.1109/RCAR52367.2021.9517534
M3 - Conference contribution
AN - SCOPUS:85115360576
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 165
EP - 170
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -