In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations

O. Fuchiwaki, T. Yamagiwa, S. Omura, Y. Hara

    Abstract

    In this paper, we describe design and experimental results of repetitive calibration of an holonomic inchworm robot based on an inverse trajectory analysis of a tip of a probe for microscopic operations. The mobile robot has two U-shaped electromagnets and four piezoelectric actuators (PAs) for obtaining 3-degrees-of-freedom (3DoF) motion on well-polished ferromagnetic surfaces. We have proposed the kinematic model to get relationship among four input voltages to PAs and three displacements of the robot at a half step. We have also solved the inverse trajectory analysis of the probe to convert the motion errors of the probe into those of the robot. Moreover, we have proposed repetitive calibration formulas to calibrate 3DoF motion of the probe under a microscope simultaneously. In experiments, we have checked that the proposed formulas are surely working for decreasing the motion errors at straight motion although rotation around the tip is hard to calibrate because of its posture measuring error of an image processor. We discuss compact and flexible microscopic operations.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1467-1472
    Number of pages6
    Volume2015-December
    ISBN (Print)9781479999941
    DOIs
    StatePublished - 2015 Dec 11
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany

    Other

    OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    CountryGermany
    CityHamburg
    Period15/9/2815/10/2

    Fingerprint

    Robots
    Calibration
    Piezoelectric actuators
    Trajectories
    Electromagnets
    Mobile robots
    Kinematics
    Microscopes
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Fuchiwaki, O., Yamagiwa, T., Omura, S., & Hara, Y. (2015). In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations. In IEEE International Conference on Intelligent Robots and Systems. (Vol. 2015-December, pp. 1467-1472). [7353561] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/IROS.2015.7353561

    In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations. / Fuchiwaki, O.; Yamagiwa, T.; Omura, S.; Hara, Y.

    IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 1467-1472 7353561.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Fuchiwaki, O, Yamagiwa, T, Omura, S & Hara, Y 2015, In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353561, Institute of Electrical and Electronics Engineers Inc., pp. 1467-1472, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28-2 October. DOI: 10.1109/IROS.2015.7353561
    Fuchiwaki O, Yamagiwa T, Omura S, Hara Y. In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December. Institute of Electrical and Electronics Engineers Inc.2015. p. 1467-1472. 7353561. Available from, DOI: 10.1109/IROS.2015.7353561

    Fuchiwaki, O.; Yamagiwa, T.; Omura, S.; Hara, Y. / In-situ repetitive calibration of microscopic probes maneuvered by holonomic inchworm robot for flexible microscopic operations.

    IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 1467-1472 7353561.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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