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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Robotic Cell Manipulation Using Optical Tweezers With Unknown Trapping Stiffness and Limited FOV
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Robotic Cell Manipulation Using Optical Tweezers With Unknown Trapping Stiffness and Limited FOV

机译：使用具有未知陷阱刚度和有限FOV的光镊进行机器人细胞操纵

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摘要

In existing control methods for optical tweezers, the trapping stiffness is usually assumed to be constant and known exactly. However, the stiffness varies according to the size of the trapped particle and is also dependant on the distance between the center of the laser beam and the particle. It is, therefore, difficult to identify the exact model of the trapping stiffness. In addition, it is also assumed that the entire workspace is visible within the field of view (FOV) of the microscope. During trapping and manipulation, certain image features such as the desired position may leave the FOV, and therefore, visual feedback is not available. In this paper, a robotic setpoint control technique is proposed for optical manipulation with unknown trapping stiffness and limited FOV of the microscope. The proposed method allows the system to operate beyond the FOV and perform trapping and manipulation tasks without any knowledge of the trapping stiffness. The stability of the overall system is analyzed by using Lyapunov-like method, with consideration of the dynamics of both the cell and the manipulator of laser source. Experimental results are presented to illustrate the performance of the proposed method.
机译：在现有的用于光镊的控制方法中，通常假定陷印刚度是恒定的并且是已知的。但是，刚度根据捕获的粒子的大小而变化，并且还取决于激光束的中心与粒子之间的距离。因此，难以确定捕集刚度的确切模型。另外，还假定整个工作空间在显微镜的视野（FOV）内可见。在陷印和操作过程中，某些图像特征（例如所需位置）可能会离开FOV，因此，视觉反馈不可用。在本文中，提出了一种机器人设定点控制技术，该技术可用于具有未知捕集刚度和有限FOV显微镜的光学操作。所提出的方法允许系统在FOV之外运行并执行捕获和操纵任务，而无需任何关于捕获刚度的知识。考虑到单元和激光源操纵器的动力学特性，使用类似Lyapunov的方法分析了整个系统的稳定性。实验结果表明了该方法的性能。

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