Fusing force and vision feedback for micromanipulation

Robotic ultra-violet (UV) curing is considered to be one of the effective ways to replace the current convection-based methods in various manufacturing processes due to its fast curing rate and high energy efficiency. This paper presents a closed-loop control of a robotic UV curing system by using thermal vision feedback through two infrared (IR) cameras. The proposed approach is developed based on a mathematical analysis of the fundamental UV curing process and the integration of the local and global IR cameras in a cascade manner. A computer simulation study is conducted to evaluate the proposed strategy by regarding two control variables: the radiant intensity of the UV heater and the sweeping speed of the robot end effector. The results indicate that controllers using either control variable can compensate for interferences and improve curing quality under this thermal-vision-based architecture.

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Fusion of Inertial Measurements and Vision Feedback for Microsurgery

Frontiers of Intelligent Autonomous Systems - Studies in Computational Intelligence ◽

10.1007/978-3-642-35485-4_29 ◽

2013 ◽

pp. 341-349

Author(s):

Yan Naing Aye ◽

Su Zhao ◽

Cheng Yap Shee ◽

Wei Tech Ang

Keyword(s):

Inertial Measurements ◽

Vision Feedback

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Applying vision feedback to crane controller design

International Journal of Systems Science ◽

10.1080/00207721.2013.779762 ◽

2013 ◽

Vol 46 (2) ◽

pp. 294-302 ◽

Cited By ~ 11

Author(s):

Lun-Hui Lee ◽

Pei-Hsiang Huang ◽

Shing-Tai Pan ◽

Handra Wijaya Lie ◽

Tung-Chien Chiang ◽

...

Keyword(s):

Controller Design ◽

Vision Feedback

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Robotic manipulation using high bandwidth force and vision feedback

Mathematical and Computer Modelling ◽

10.1016/0895-7177(96)00113-6 ◽

1996 ◽

Vol 24 (5-6) ◽

pp. 11-29 ◽

Cited By ~ 26

Author(s):

B.J. Nelson ◽

J.D. Morrow ◽

P.K. Khosla

Keyword(s):

Robotic Manipulation ◽

High Bandwidth ◽

Vision Feedback

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Design and Development of a Fused Vision Force Controller for Nanofiber Grasping and Manipulation

Volume 1: 21st Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C ◽

10.1115/detc2007-35416 ◽

2007 ◽

Cited By ~ 3

Author(s):

Reza Saeidpourazar ◽

Nader Jalili

Keyword(s):

Inverse Kinematics ◽

Force Feedback ◽

Atomic Scale ◽

Design And Development ◽

Robust Controller ◽

Grasping And Manipulation ◽

Performance Capability ◽

Fabric Production ◽

Perturbation Estimation ◽

Vision Feedback

This paper presents the design and development of a fused vision force feedback robust controller for a nanomanipulator used in nanofiber grasping and nano-fabric production applications. The RRP (Revolute Revolute Prismatic) manipulator considered here utilizes two rotational motors with 0.1 μrad resolution and one linear Nanomotor® with 0.25 nm resolution. Weighing just about 30g and having short lever arms (<5cm), the manipulator is capable of achieving well-behaved kinematic characteristics without the backlash in addition to atomic scale precision to guarantee accurate manipulation at the nanoscale. A mathematical model of the nanomanipulator is formulated and both direct and inverse kinematics of the system as well as dynamic equations are presented. A fused force vision feedback based modified optimal robust controller with perturbation estimation for nanomanipulator positioning is then derived and analyzed extensively. Unlike typical macroscale manipulator models and controllers, the controller development is not trivial here due to nanoscale movement and forces, coupled with unmodeled dynamics, nonlinear structural dynamics and mainly lack of position and velocity feedback in this nanomanipulator. Following the development of the fused force vision robust controller, numerical simulations of the proposed controller are preformed to demonstrate the positioning performance capability in nanofiber grasping applications.

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Internet Based Lab Framework Development for Distance Learning in Robotics and Mechatronics Education

Volume 7: Engineering Education and Professional Development ◽

10.1115/imece2007-43804 ◽

2007 ◽

Author(s):

Richard Chiou ◽

Yongjin Kwon

Keyword(s):

Distance Learning ◽

Sensor Networks ◽

Feedback Control ◽

Instructional Materials ◽

The Internet ◽

Industrial Control ◽

Educational Tools ◽

Robotic Vision ◽

Framework Development ◽

Vision Feedback

A number of Internet-based educational tools have been developed to support mechanical education with Internet-based technologies. However, many of these tools have limitations as mostly just visual assistant tools for understanding engineering lectures. This paper describes lab framework development integrated with Internet-based robotics and mechatronics for mechanical education. The development efforts include advanced course and laboratory activities integrated with sensor networks and Internet-based technologies. The instructional materials for Internet-based robotics and automation education utilize Robotics and Mechatronics lab as the experiments of choice. The new Internet-based techniques allow the remotely situated students to program, control, and monitor the mechanical operations through the Internet. The architecture of the Internet-based lab focusing on remote data acquisition and measurement, as well as industrial control and automation applications, is illustrated. Implementation of a remote robotic vision feedback control lab is also described.

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