Vision feedback in an automatic nanohandling station inside an SEM

2006 ◽  
Author(s):  
Torsten Sievers ◽  
Marco Jähnisch ◽  
Christian Schrader ◽  
Sergej Fatikow
Keyword(s):  
Vision Feedback

Manipulator Control by Vision Feedback

1986 ◽  
Vol 19 (9) ◽  
pp. 117-122
Author(s):  
E. Murtoviita ◽  
R. Ylinen
Keyword(s):  
Vision Feedback ◽  
Manipulator Control

Control of a Robotic UV Curing Process With Thermal Vision Feedback Through Two IR Cameras

2009 ◽  
Author(s):  
Fan Zeng ◽  
Beshah Ayalew ◽  
Mohammed Omar
Keyword(s):  
Control Variable ◽  
Ultra Violet ◽  
Uv Curing ◽  
High Energy ◽  
Curing Process ◽  
Radiant Intensity ◽  
Loop Control ◽  
Thermal Vision ◽  
Uv Curing Process ◽  
Vision Feedback

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.

Applying vision feedback to crane controller design

2013 ◽  
Vol 46 (2) ◽  
pp. 294-302 ◽  
Author(s):  
Lun-Hui Lee ◽  
Pei-Hsiang Huang ◽  
Shing-Tai Pan ◽  
Handra Wijaya Lie ◽  
Tung-Chien Chiang ◽  
...  
Keyword(s):  
Controller Design ◽  
Vision Feedback

scholarly journals Robotic manipulation using high bandwidth force and vision feedback

1996 ◽  
Vol 24 (5-6) ◽  
pp. 11-29 ◽  
Author(s):  
B.J. Nelson ◽  
J.D. Morrow ◽  
P.K. Khosla
Keyword(s):  
Robotic Manipulation ◽  
High Bandwidth ◽  
Vision Feedback

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

2007 ◽  
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.

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

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.

Virtual reality and high-accuracy vision feedback as key information for microrobot telemanipulation

1996 ◽  
Author(s):  
Armin Sulzmann ◽  
Jean-Marc Breguet ◽  
Jerome Carlier ◽  
Jacques Jacot
Keyword(s):  
Virtual Reality ◽  
High Accuracy ◽  
Vision Feedback
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