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Visual Control of an Automatic Manipulation System by Microscope and Pneumatic Actuator

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2 Author(s)
Hung I. Chen ; Mechanical Engineering, National Cheng-Kung University, Taiwan ; Ming Chang Shih

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.

Published in:

IEEE Transactions on Automation Science and Engineering  (Volume:10 ,  Issue: 1 )