Feature referenced tip localization in robotic nano manipulation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Feature referenced tip localization in robotic nano manipulation
	Liu LQ(刘连庆); Wang YC(王越超); Dong ZL(董再励)
	2009
会议日期	October 10-15, 2009
会议地点	St. Louis, MO, USA
页码	1351-1356
英文摘要	One of the prerequisite conditions for making a successful manipulation is that the relative position between the AFM tip and the objects can be sensed and controlled accurately. While this prerequisite is grandly hampered by the PZT nonlinearity and thermal drift. Although the PZT nonlinearity can be compensated to a certain extent through mounting a position sensor on the PZT scanner, this method leads to a higher system noise and a higher cost. In addition, this method can not handle the positioning error caused by thermal drift due to the lack of sensing ability to the displacement between the AFM tip and the sample stage. This paper propose a newly developed strategy to solve these problems. Its pivotal idea is the tip position is localized based on the sensing information to sample features, not PZT driving voltage or sensor signal. In this way, the positioning error aroused from PZT nonlinearity and thermal drift can be effectively suppressed. Experimental results demonstrate the advantage and effectiveness of the proposed method.
源文献作者	IEEE
产权排序	1
会议录	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-3803-7
WOS记录号	WOS:000285372900225
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8711]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu LQ(刘连庆)
作者单位	1.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China 2.Department of Electrical and Computer Eng., Michigan State University, East Lansing, MI 48824, United States
推荐引用方式 GB/T 7714	Liu LQ,Wang YC,Dong ZL. Feature referenced tip localization in robotic nano manipulation[C]. 见:. St. Louis, MO, USA. October 10-15, 2009.