{"title":"Micro and nano robotics","authors":"R. Šafarič, J. Cas, G. Skorc, S. I. Protsenko","doi":"10.1109/ICAT.2009.5348450","DOIUrl":null,"url":null,"abstract":"The paper presents two techniques for controlling of micro/nano robots. The first one uses so called visual servoing techniques, where the robot tip position is measured with a camera. The position of the robot tip is extracted from the live video picture, so on-line position feedback control can be established. The experimental results of 2 DOF micro robot neural network controller with resolution of 500 nm is presented. The second presented experiment will show research results of 5 DOF nano robot cell with a gripper with resolution of 62 nm. The so called adaptive bang-bang position controller will be presented. The position of each linear axis is measured by a magnetic incremental encoder. The presentation focuses to the experimental results achieved by so called interface for prevention of collision in the nano world. We use a haptic device to get filling of a touch in the nano world.","PeriodicalId":211842,"journal":{"name":"2009 XXII International Symposium on Information, Communication and Automation Technologies","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2009-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 XXII International Symposium on Information, Communication and Automation Technologies","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAT.2009.5348450","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The paper presents two techniques for controlling of micro/nano robots. The first one uses so called visual servoing techniques, where the robot tip position is measured with a camera. The position of the robot tip is extracted from the live video picture, so on-line position feedback control can be established. The experimental results of 2 DOF micro robot neural network controller with resolution of 500 nm is presented. The second presented experiment will show research results of 5 DOF nano robot cell with a gripper with resolution of 62 nm. The so called adaptive bang-bang position controller will be presented. The position of each linear axis is measured by a magnetic incremental encoder. The presentation focuses to the experimental results achieved by so called interface for prevention of collision in the nano world. We use a haptic device to get filling of a touch in the nano world.