面向复杂作业的微操作机器人关键技术的研究.pdfVIP

Proceedings of the 29th Chinese Control Conference July 29-31, 2010, Beijing, China °ïE,äíáˆäÏÖE‚Ôƒ* ö, Î#, ߡ, öß, ©?Ÿ HmåÏÜE gƒzÔƒ§, U9300071 £ á: ëXáˆäE‚u–⁄á*Ôƒ\, ı8Iˆä⁄1˛ 8Iˆä ÆϧèáˆäÔƒ:. È1 ˛ 8Iáˆä•3ØK, ©ÚE,äíVg⁄\áˆä+ç, 3k° ï)‘ÛßáˆäÏ˛, È áˆäE,äí§Iáwá¿çˇ–!8I¤†Ü†!áˆäÛ‰†ÖE‚?1\Ôƒ. ?ò ⁄, ©œL1˛)‘8Iwá„î°¿çˇ–Ü†¢⁄ƒulwá„îá ›ê, y ˛„ÖE‚k5. Öc: áˆäÏ, áˆäE,äí, ¤¿ç, 8I†, ›êï† Key Technologies of Micro-Manipulation System Oriented Complex Task SUN Mingzhu, ZHAO Xin, CHENG Xiaoyan, SUN Cheng, LU Guizhang Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, P.R. China Abstract: With the development of micro-manipulation technology and research, multi-target operation and batch-target opera- tion become the focus in micro-manipulation. In order to solve the problems in batch-target operation, this paper introduces the concept of complex task into micro-manipulation field, and does in-depth studies in microscopic field of view (FOV) extension, target location and re-location, micro-manipulation tool location. In addition, experiments, including plane FOV extension location of batch biologic targets, and location in depth direction based on defocused microscopic images, are designed and accomplished in this paper. The experiment results demonstrate that the key technologies in this paper are effective. Key Words: Micro-manipulation system, Complex task in micro-manipulation, Global field of view, Target re-location, Location in depth direction 1 ⁄Û (Introduction) Èı8I⁄1˛ 8IáˆäA:±9yká ˆä„ÿv, ©ÚE,äíVg⁄\áˆä ëXáˆä A^3›⁄2›¸ê°ÿ‰ˇ +ç, 3k° ï)‘Ûßáˆäσ:˛, –, áˆäE‚3̃Ÿß1íu–”û, ¢SA ÈáˆäE,äí§Iá¿˙á܆ØK? ^èèáˆäJ—#ØK⁄ÔƒSN. 8c, ° 1\Ôƒ. ©1!ƒk©¤3ı8I⁄1 ï¸ 8IáˆäE‚F™ı⁄§Ÿ, ı8