Control System of an Automated Nanohandling Robot Cell

C. Stolle, S. Fatikow
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引用次数: 5

Abstract

Current research work on the development of a nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two microrobots operate in the vacuum chamber of an SEM. In order to enable automatic nanohandling, a modular control system architecture is proposed. Different microrobots can be integrated in a flexible manner using a common control interface. The system easily scales up for more complex robot and sensor setups. Parallel execution of open and closed-loop control tasks can be performed. The functionality of the robot cell is exemplified by handling and mechanical characterization of carbon nanotubes (CNT).
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一种自动化纳米处理机器人单元控制系统
介绍了纳米处理电池在扫描电子显微镜下的研究进展。给出了一个实验装置,其中两个微型机器人在扫描电镜的真空室中工作。为了实现纳米处理的自动化,提出了一种模块化控制系统架构。不同的微型机器人可以通过一个通用的控制接口灵活地集成在一起。该系统很容易扩展到更复杂的机器人和传感器设置。开环和闭环控制任务可以并行执行。机器人细胞的功能通过碳纳米管(CNT)的处理和机械特性来举例说明。
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