Evaluation of different control algorithms for a micromanipulation system
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Lacking position encoders, a Kleindiek MM3A was paired with stereo-vision feedback and control algorithms that recover the gripper position for automated micro-assembly.
This paper develops a micromanipulation system around a Kleindiek MM3A, an electromagnetic microgripper, two CCD cameras for stereovision and a stereo light microscope. Because the manipulator carries no positional encoders, the gripper position is recovered through visual feedback and inverse kinematics; the authors then evaluate different control algorithms for accurate, automated positioning.
