Robotic manipulation of micro/nanoparticles using optical tweezers with velocity constraints and stochastic perturbations
Author(s)
Yan, Xiao; Cheah, Chien Chern; Pham, Quang-Cuong; Slotine, Jean-Jacques E
Downloadicra final.pdf (338.9Kb)
OPEN_ACCESS_POLICY
Open Access Policy
Creative Commons Attribution-Noncommercial-Share Alike
Terms of use
Metadata
Show full item recordAbstract
Various control approaches have been developed for micro/nanomanipulations using optical tweezers. Most existing methods assume that the micro/nanoparticles stay trapped during manipulations, and stochastic perturbations (Brownian motion) are usually ignored for the simplification of model dynamics. However, the trapped particles could escape from the optical traps especially in motion due to several possible reasons: small trapping stiffness, stochastic perturbations, and kinetic energy gained during manipulation. This paper investigates the conditions under which micro/nanoparticles will stay trapped while in motion. The dynamics of the trapped particles subject to stochastic perturbations is analyzed. Dynamic trapping is considered and the maximum manipulation velocity is determined from a probabilistic perspective. A controller with certain velocity bound is proposed, the stability of the system is analysed in presence of stochastic perturbation. Experimental results are presented to show the effectiveness of the proposed control approach.
Date issued
2015-05Department
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences; Massachusetts Institute of Technology. Department of Mechanical EngineeringJournal
2015 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Yan, Xiao, Chien Chern Cheah, Quang-Cuong Pham, and Jean-Jacques E. Slotine. “Robotic Manipulation of Micro/nanoparticles Using Optical Tweezers with Velocity Constraints and Stochastic Perturbations.” 2015 IEEE International Conference on Robotics and Automation (ICRA) (May 2015).
Version: Author's final manuscript
ISBN
978-1-4799-6923-4