Vision/Force Control Method for Positioning Probe Fast and Precisely In Bio-operating System
In biomedical engineering, it needs to position glass probe or micro-electrode that operates cells fast and precisely. Comparing with manual operation, the automatic control method based on vision can effectively improve the operation speed and precision of position. Controlling the force to pierce cells can improve success rates effectively. In vision control, the movement error of characteristic points in vision space is used to revise the mapping matrix of vision space and manipulator space. A least square method is used to optimize the matrix in different area of vision space, and then the global and optimal transform matrix is obtained. Finally, with this matrix the input coefficient matrix of state equation of Kalman filter is replaced and characteristic points are controlled to move accurately with the estimate equation of Kalman filter. In the force control of micro-operation, force sensor is designed using PVDF membrane, and then the elastic modulus of which is computed by the use of resonance frequency method and relationships between force and deformation, output voltage of membrane. The experimental results show that the movement errors between estimated position and true position of characteristic points are controlled in one pixel if the estimate equation of Kalman filter is used to control the movement of characteristic points. The elastic modulus of PVDF membrane is 4.54μN/μm，and the minimum force of probe which can be detected using micro-force sensor made by such membrane is 45.5μN.
Wenming Xi Lihui Lei Xiaoming Zhu
Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, China
国际会议
长春
英文
1-6
2011-08-29（万方平台首次上网日期，不代表论文的发表时间）