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This paper presents an automatic manipulation system consisting of microscope and pneumatic actuator. Through image captured by microscope with a CCD camera, the position between the probe and the object can be calculated in the image plane. A visual fuzzy controller is designed to improve the precision of a nonlinear pneumatic manipulator. From the experimental results, the position error of the system is below 1 pixel. The system can be applied to puncture fish embryo.
Automation Science and Engineering, IEEE Transactions on (Volume:10 , Issue: 1 )
Date of Publication: Jan. 2013