Micro and nano robotics

Abstract

The paper presents two techniques for controlling of micro/nano robots. The first one uses so called visual servoing techniques, where the robot tip position is measured with a camera. The position of the robot tip is extracted from the live video picture, so on-line position feedback control can be established. The experimental results of 2 DOF micro robot neural network controller with resolution of 500 nm is presented. The second presented experiment will show research results of 5 DOF nano robot cell with a gripper with resolution of 62 nm. The so called adaptive bang-bang position controller will be presented. The position of each linear axis is measured by a magnetic incremental encoder. The presentation focuses to the experimental results achieved by so called interface for prevention of collision in the nano world. We use a haptic device to get filling of a touch in the nano world.