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All Journal IAES International Journal of Robotics and Automation (IJRA)
John T.W. Yeow
University of Waterloo
Automotive Engineering Electrical & Electronics Engineering

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Automated Sequential Pushing of Micro Objects By Using Adaptive Controller Mohsen Shahini; William W. Melek; John T.W. Yeow
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (419.846 KB) | DOI: 10.11591/ijra.v2i4.pp163-173

Abstract

This paper focuses on precision automated pushing of multiple micro objects. An adaptive control system is proposed to accurately push and position the micro objects on a substrate. Each micro object exhibits different characteristics in terms of the surface micro forces governing the manipulation process. The controller is designed to compensate for the effect of the micro forces whose aggregated magnitude varies during the process. An experimental setup is designed to validate the performance of the proposed controller. The results of the experiments confirm that the proposed adaptive controller is capable of learning to adjust its parameters effectively, when the surface micro forces change under varying surface and ambient conditions.
Co-Authors Mohsen Shahini William W. Melek