Multi-agent Control for Stochastic Optical Manipulation Systems
| Autor: | Quang Minh Ta, Chien Chern Cheah |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Robot kinematics
Computer science Perspective (graphical) GRASP Stability (learning theory) Computer Science Applications Robot control Computer Science::Robotics Control and Systems Engineering Control theory Control system Electrical and Electronic Engineering Control (linguistics) Brownian motion |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 25:1971-1979 |
| ISSN: | 1941-014X 1083-4435 |
| Popis: | In this article, we propose a multi-agent robot control framework for coordinated manipulation of multiple micro-objects with Brownian perturbations. In this control approach, several micro-hands with multiple fingertips are first constructed by coordination of optically trapped particles so as to grasp the target micro-objects. The grasped micro-objects are then cooperatively manipulated through coordinative control of the micro-hands with multiple fingertips. While current optical manipulation techniques are heavily dependent on the physical properties of the manipulated micro-objects, this article offers a multi-agent robot control framework for coordinated manipulation of multiple micro-objects with arbitrary types in the microworld. The control problem is rigorously formulated with the consideration of the Brownian effect, and the stability of the control system is analyzed from a stochastic perspective. The effectiveness of the proposed control technique is validated with experimental results. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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