Cooperative Micro Object Handling by Dual Micromanipulators under Vision Control

Abstract

We proposed a newly Automated Micro Assembling System (AMAS) concept for a desktop micro device factory composed of two micromanipulators equipped with micro tools operating under a light microscope. First, we consider the transportation of micro objects by controlling the manipulator push of an micro object on a flat surface with point contact to a desired position. A manipulator control method for the micro object to follow a planned trajectory in pushing operation is proposed under vision based-position control. Then, we present the cooperation control strategy of the micro handling operation under vision-based force control. Finally, different simulation and experimental results show the effectiveness of the proposed controllers.