Title :
Visual Control of an Automatic Manipulation System by Microscope and Pneumatic Actuator
Author :
Chen, Hung I. ; Shih, Ming Chang
Author_Institution :
Dept. of Mech. Eng., Nat. Cheng-Kung Univ., Tainan, Taiwan
Abstract :
This paper presents an automatic manipulation system consisting of microscope and pneumatic actuator. Through image captured by microscope with a CCD camera, the position between the probe and the object can be calculated in the image plane. A visual fuzzy controller is designed to improve the precision of a nonlinear pneumatic manipulator. From the experimental results, the position error of the system is below 1 pixel. The system can be applied to puncture fish embryo.
Keywords :
CCD image sensors; control system synthesis; fuzzy control; micromanipulators; microscopy; nonlinear control systems; pneumatic actuators; position control; robot vision; CCD camera; automatic manipulation system; fish embryo puncturing; image capture; image plane; microscope; nonlinear pneumatic manipulator; object position; pneumatic actuator; position error; probe position; visual control; visual fuzzy controller design; Embryo; Manipulators; Microscopy; Probes; Servomotors; Visualization; Fuzzy control; pneumatic micromanipulator; visual control;
Journal_Title :
Automation Science and Engineering, IEEE Transactions on
DOI :
10.1109/TASE.2012.2205239
