Vision-based micro-manipulations in simulation
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TECHNICAL PAPER
Vision-based micro-manipulations in simulation Loı¨c Riegel1 • Guangbo Hao2
•
Pierre Renaud3
Received: 6 October 2020 / Accepted: 13 October 2020 Ó Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Manipulating micro-objects is needed in various applications such as micro-assembly, minimally invasive surgery and micro-organism manipulation, which refers to micro-manipulation in this paper. During such operations, controlling the gripping force is mandatory, in order to prevent damage or the breaking of the micro-parts being grasped and handled, given that they are often very fragile. The force sensing is frequently carried out by sensors embedded in the micro-gripper, but this produces strong design and manufacturing constraints consequently. In this paper, vision-based manipulation of micro-parts is investigated. Moreover, instead of working with real setups, this paper investigates micro-manipulations carried out in simulation. Working on simulators instead of real setups allows to easily and quickly implement different vision-based force measurement methods, different force control strategies and even different micro-gripper systems. Using the simulators, we are also able to compare the performance and limitations achieved in each manipulation, and to study the impact of certain parameters on manipulation performance. MATLAB-based simulators were designed in this paper. A vision-based force measurement method was then implemented and integrated into a closed-loop force control. In the end, successful grasp-hold-release manipulations of micro-parts (400–600 lm size) were achieved with a force-sensing resolution of less than 6 lN. Moreover, the manipulation was observed to be successful when softness variation is introduced on the micro-object (± 20% around the average value), and when pictures are degraded because of noise and blur effects.
1 Introduction Micro-manipulation can be applied to many tasks such as micro-assembly, minimally invasive surgery, testing and fabrication of micro-circuits, and micro-organism manipulation (Savia and Koivo 2009; Hao et al. 2018). For instance, Reference (Kima et al. 2005) demonstrated the importance of force sensing when manipulating zebrafish embryos. Controlling the gripping force is mandatory when grasping microscopic objects. On the one hand, it prevents the force from going too high, which would result in damaging or even in breaking or destroying the manipulated micro-object. On the other hand, a force feedback allows to make sure that the micro-object is successfully grasped. Such micromanipulations have been successfully & Guangbo Hao [email protected] 1
INSA Strasbourg, Strasbourg, France
2
University College Cork, Cork, Ireland
3
ICube, INSA Strasbourg, University of Strasbourg, CNRS, Strasbourg, France
achieved using force sensors embedded on the gripper, like piezoresistive or capacitive force sensors. However, the usage of such sensors induces design and manufacturing constrain
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