Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system
A microrobot having two high-performance parallel drive limbs has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end-points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and c...
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| creator | Hunter, I.W. Lafontaine, S. Nielsen, P.M.F. Hunter, P.J. Hollerbach, J.M. |
| description | A microrobot having two high-performance parallel drive limbs has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end-points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. With optimal nonlinear model-based controllers the limbs can move at up to 2 m/s relative to each other. A variety of end effectors, including ferroelectric polymer microgrippers, may be attached to the limbs to permit cell manipulation. A 3D laser vision system with resolution of 50 to 100 nm has been developed to provide the microrobot with volume images containing magnitude, phase, polarization, and special information. A macro version of the microrobot has been built to enable force-reflecting teleoperation of the microrobot. The telemicrorobot system permits both microscopic objects and continuum models to be felt. A high-performance parallel computer has been designed to meet the substantial computational and control requirements of the system.< > |
| doi_str_mv | 10.1109/ROBOT.1989.100199 |
| format | Conference Proceeding |
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The end-points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. With optimal nonlinear model-based controllers the limbs can move at up to 2 m/s relative to each other. A variety of end effectors, including ferroelectric polymer microgrippers, may be attached to the limbs to permit cell manipulation. A 3D laser vision system with resolution of 50 to 100 nm has been developed to provide the microrobot with volume images containing magnitude, phase, polarization, and special information. A macro version of the microrobot has been built to enable force-reflecting teleoperation of the microrobot. The telemicrorobot system permits both microscopic objects and continuum models to be felt. A high-performance parallel computer has been designed to meet the substantial computational and control requirements of the system.< ></description><identifier>ISBN: 9780818619380</identifier><identifier>ISBN: 0818619384</identifier><identifier>DOI: 10.1109/ROBOT.1989.100199</identifier><language>eng</language><publisher>IEEE Comput. Soc. Press</publisher><subject>Concurrent computing ; End effectors ; Ferroelectric materials ; Grippers ; Manipulator dynamics ; Microscopy ; Optimal control ; Polymers ; Surgery ; Testing</subject><ispartof>Proceedings, 1989 International Conference on Robotics and Automation, 1989, p.1553-1558 vol.3</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/100199$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,4050,4051,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/100199$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Hunter, I.W.</creatorcontrib><creatorcontrib>Lafontaine, S.</creatorcontrib><creatorcontrib>Nielsen, P.M.F.</creatorcontrib><creatorcontrib>Hunter, P.J.</creatorcontrib><creatorcontrib>Hollerbach, J.M.</creatorcontrib><title>Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system</title><title>Proceedings, 1989 International Conference on Robotics and Automation</title><addtitle>ROBOT</addtitle><description>A microrobot having two high-performance parallel drive limbs has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end-points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. With optimal nonlinear model-based controllers the limbs can move at up to 2 m/s relative to each other. A variety of end effectors, including ferroelectric polymer microgrippers, may be attached to the limbs to permit cell manipulation. A 3D laser vision system with resolution of 50 to 100 nm has been developed to provide the microrobot with volume images containing magnitude, phase, polarization, and special information. A macro version of the microrobot has been built to enable force-reflecting teleoperation of the microrobot. The telemicrorobot system permits both microscopic objects and continuum models to be felt. A high-performance parallel computer has been designed to meet the substantial computational and control requirements of the system.< ></description><subject>Concurrent computing</subject><subject>End effectors</subject><subject>Ferroelectric materials</subject><subject>Grippers</subject><subject>Manipulator dynamics</subject><subject>Microscopy</subject><subject>Optimal control</subject><subject>Polymers</subject><subject>Surgery</subject><subject>Testing</subject><isbn>9780818619380</isbn><isbn>0818619384</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1989</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp9zr0KwjAUhuGACIr2AnTKDbQm1GqyKoqLCNK9pOlRU9qk9MShd2_8mT3LNzzvcAhZcJZwzuTqetld8oRLIRPOGJdyRCK5FUxwseEyFWxCIsSahVun2ToTU1KelTXds1HeOEuVrWg1WNUaTVvQj2BaNdQDemPv1N1okN6hdl0oXFmD9kif-EYVsgbiTxD3rnSe4oAe2jkZ31SDEP12RpbHQ74_xQYAiq43reqH4vtw-hdfljxGjg</recordid><startdate>1989</startdate><enddate>1989</enddate><creator>Hunter, I.W.</creator><creator>Lafontaine, S.</creator><creator>Nielsen, P.M.F.</creator><creator>Hunter, P.J.</creator><creator>Hollerbach, J.M.</creator><general>IEEE Comput. Soc. Press</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1989</creationdate><title>Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system</title><author>Hunter, I.W. ; Lafontaine, S. ; Nielsen, P.M.F. ; Hunter, P.J. ; Hollerbach, J.M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_1001993</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1989</creationdate><topic>Concurrent computing</topic><topic>End effectors</topic><topic>Ferroelectric materials</topic><topic>Grippers</topic><topic>Manipulator dynamics</topic><topic>Microscopy</topic><topic>Optimal control</topic><topic>Polymers</topic><topic>Surgery</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Hunter, I.W.</creatorcontrib><creatorcontrib>Lafontaine, S.</creatorcontrib><creatorcontrib>Nielsen, P.M.F.</creatorcontrib><creatorcontrib>Hunter, P.J.</creatorcontrib><creatorcontrib>Hollerbach, J.M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library Online</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hunter, I.W.</au><au>Lafontaine, S.</au><au>Nielsen, P.M.F.</au><au>Hunter, P.J.</au><au>Hollerbach, J.M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system</atitle><btitle>Proceedings, 1989 International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1989</date><risdate>1989</risdate><spage>1553</spage><epage>1558 vol.3</epage><pages>1553-1558 vol.3</pages><isbn>9780818619380</isbn><isbn>0818619384</isbn><abstract>A microrobot having two high-performance parallel drive limbs has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells. The end-points of each limb move in overlapping spherical workspaces of 1 mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. With optimal nonlinear model-based controllers the limbs can move at up to 2 m/s relative to each other. A variety of end effectors, including ferroelectric polymer microgrippers, may be attached to the limbs to permit cell manipulation. A 3D laser vision system with resolution of 50 to 100 nm has been developed to provide the microrobot with volume images containing magnitude, phase, polarization, and special information. A macro version of the microrobot has been built to enable force-reflecting teleoperation of the microrobot. The telemicrorobot system permits both microscopic objects and continuum models to be felt. A high-performance parallel computer has been designed to meet the substantial computational and control requirements of the system.< ></abstract><pub>IEEE Comput. Soc. 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| fulltext | fulltext_linktorsrc |
| identifier | ISBN: 9780818619380 |
| ispartof | Proceedings, 1989 International Conference on Robotics and Automation, 1989, p.1553-1558 vol.3 |
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| language | eng |
| recordid | cdi_ieee_primary_100199 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Concurrent computing End effectors Ferroelectric materials Grippers Manipulator dynamics Microscopy Optimal control Polymers Surgery Testing |
| title | Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system |
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