Abstract:
Robotic handling of objects in the micro-world is a challenging problem. Due to the natural differences between micro-manipulation and robotic manipulators, it is difficu...Show MoreMetadata
Abstract:
Robotic handling of objects in the micro-world is a challenging problem. Due to the natural differences between micro-manipulation and robotic manipulators, it is difficult to produce such a micro-hand which can function as robotic hands in the physical world. In this letter, we propose a robotic handling approach for micro-objects using stochastic optically-actuated end-effector. An end-effector is first constructed by several optically-actuated micro-particles so as to perform an autonomous grasping task on a micro-object. Once being grasped by the end-effector, the object is maneuvered by using a robotic stage which acts as a robotic mobile base. This letter, therefore, offers a robotic control approach which is able to perform a “pick and place” task in the micro-world. In the proposed approach, the Brownian effect on the optically-actuated end-effector is considered so as to reflect the real essence of optical tweezing. Besides, with the usage of the end-effector for stable grasping of the target object, the Brownian effect on the grasped object can also be reduced. In the proposed approach, a simple feedback control method is utilized for manipulation of the grasped object, and thus further enhancing the robustness of the control system in the presence of Brownian perturbations. Rigorous mathematical formulation and stability analysis is carried out, and experimental validation is performed to illustrate the feasibility of the robotic handling approach.
Published in: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 2, April 2021)