| Popis: |
This paper proposes an autonomous grasping technique for micro-objects using flexible micro-hands. In this control technique, a micro-hand is constructed by several fingertips which are optically trapped and actuated by using laser beams. As the fingertips are driven towards a transformable area specified around a target micro-object, a grasping configuration of fingertips is thus formed to grasp the object. In this control technique, the effect of the Brownian perturbations on maneuvering of the micro-hand is considered so as to gain insight into the real nature of micro-manipulation using optical tweezers. The stability of the control system for autonomous grasping using flexible micro-hands is investigated with a stochastic analysis, and experimental illustration is presented to demonstrate the effectiveness of the proposed control technique. |
