Optimal Path Planning of Micromanipulators in Confined spaces and Nanomanipulation of 1D Nanomaterials

Abstract

In recent trends, it has been found that nanorobotics systems inside SEMs facilitate in-situ manipulation and characterization for the assembly of nanodevice. However, the complexity of managing the total manipulation system increases due to constricted workspace and lack of proper process feedback information during nanomanipulation. Multiple components must be controlled simultaneously to perform any experiment, which requires an integrated control interface. For analyzing 1D nanomaterials properties pick and place, nanomanipulation technique is demonstrated here. As shown in the experiments, nanomaterial characterization requires two or more micromanipulators simultaneously for 3D nanomanipulation task. Therefore, changing the micromanipulators configuration is frequently required to initiate the next task sequence in an ongoing experimental process. A MATLAB-based simulation tool is developed, which computes an optimal path for collision-free motion inside an SEM confined workspace.