Marking techniques for vision recognition of microgrippers for micromanipulation

In this paper, two methods of marking microgrippers are described, which can be used for vision recognition in micromanipulation tasks. The two techniques are shape-based FIB (focused ion beam) triangle machining and colour-based polymer ink marking; these have been applied to several microgrippers that were manufactured from stainless steel using micro-EDM (electro discharge machining). A method for detecting the colour-based markers was developed and the results presented