Title :
Towards automated robotic nanomanipulation systems
Author :
Jasper, Daniel ; Edeler, Christoph ; Diederichs, Claas ; Naroska, M. ; Stolle, C. ; Fatikow, Sergej
Author_Institution :
Div. Microrobotics & Control Eng., Univ. of Oldenburg, Oldenburg, Germany
Abstract :
This paper describes the key components that need to be developed, implemented and integrated in order to make full automation on the nano-scale possible. Multiple nanohandling robots are integrated into a flexible robot cell that can quickly adapt to different manipulation scenarios. An approach for the physical actuation of the employed smart actuators is given. A real-time capable control architecture makes efficient and reliable automation possible. With specialized methods of collision avoidance and path planning, the actual automation sequences can then abstract from the complex task of motion planning for individual robots. Furthermore, the major challenges when performing calibration and adjustment on the nanoscale are highlighted.
Keywords :
actuators; calibration; collision avoidance; flexible manipulators; industrial manipulators; microrobots; mobile robots; motion control; automated robotic nanomanipulation system; calibration; collision avoidance; flexible robot cell; mobile robot; motion planning; multiple nanohandling robot; path planning; physical actuation; real-time capable control architecture; Actuators; Automatic control; Calibration; Collision avoidance; Intelligent robots; Mobile robots; Path planning; Robot sensing systems; Robotic assembly; Robotics and automation;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5230031