Hybrid vision control apply on automatic pneumatic micromanipulation system

This paper describes an automatic pneumatic micromanipulation system consisting of a servo pneumatic micromanipulator and microscope observation system. In order to acquire an accurate sample, th e probe position with image processing methods is applied to discriminate the sample contour from background. The pneumatic micromanipulator system is an onlinear system, a hybrid vis ion con troller is designed to control the position of the pneumatic micromanipulator and the motion of the micromanipulation system by microscope with a 1/2 type CCD image device. Experimental results shows the steady state errors remain within ± 1 pixel, and the automatic sample puncturing is successful.