Calibration of piezoelectric actuator-based vision guided cell microinjection system

In this paper, a new calibration method for piezoelectric actuator-based vision guided cell microinjection system is proposed. This method puts all the parameterspsila uncertainties in a lumped rotational matrix instead of classifying the parameters into extrinsic and intrinsic categories. The difference between the measured and nominal output is assumed to be caused by parameterspsila uncertainties. Parameterspsila uncertainties are identified by collecting 3 pairs of input and output differences. Image-based and actuator-based position controllers are designed based on the calibration results. Experiments are made to demonstrate the usefulness of this calibration method.