Modeling and control of active end effector for the AFM based nano robotic manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 163-168

  Zhang, Jiangbo ^a   Li, Guangyong ^a   Xi, Ning ^a  

^a Michigan State University   (United States)

Author keywords

Atomic force microscopy (AFM); Flexible structure; Nanomanipulation; Piezoelectric

Indexed keywords

ATOMIC FORCE MICROSCOPY; COMPUTER SIMULATION; FEEDBACK CONTROL; NANOTECHNOLOGY; PIEZOELECTRIC DEVICES; ROBOTICS;

FLEXIBLE STRUCTURE; HAPTIC FEEDBACK; MANIPULATION MODE; NANOMANIPULATION; ROBOTIC MANIPULATORS;

REDUNDANT MANIPULATORS;

EID: 33846165123     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570113     Document Type: Conference Paper

References (21)

1. F. Quate, and C. Gerber, "Atomic force microscope," Phys. Rev. Lett., vol. 56, no. 9, pp. 930-933, 1986.
2. T. Junno, K. Deppert, L. Montelius, and L. Samuelson, "Controlled manipulation of nanoparticles with an atomic force microscopy," Appl. Phys. Lett., vol. 66, pp.3627-3629, June 1995.
3. D. Schafer, R. Reifenberger, A. Patil, and R. Andres, "Fabrication of two-dimensional arrays of nanometric-size clusters with the atomic force microscopy," Appl. Phys. Lett., vol. 66, pp. 1012-1014, Feb. 1995.
4. R.W. Stark, S. Thalhammer, J. Wienberg and W.M. Heckl, "The afm as a tool for chromosomal dissection-The influence of physical parameters," Appl. Phys. A, vol. 66, pp. 579-584, March 1998.
5. M. Falvo, R. Superfine, and S. Washburn et. al., "The nanomanipulator: A teleoperator for manipulating materials at the nanometer scale," Proc. Int. Symp. Science and Technology of Atomically Engineered Materials, Richmond VA, pp. 579-586., Nov. 1995.
6. M. Sitti and H. Hashimoto, "Tele-nanorobotics using atomic force microscope," Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Victoria, BC, Canada, pp. 1739-1746, Oct. 1998.
7. Guangyong Li, Ning Xi, Mengmeng Yu and Wai-Keung Fung, "Development of augmented reality system for AFM-based nanomanipulation," Mechatronics, IEEE/ASME Transactions.vol. 9, Issue: 2, pp.358-365, June 2004.
8. Webpage: https://www.veecoprobes.com
9. M. Sitti and H. Hashimoto, "Controlled pushing of nanoparticles: Modeling and experiments," IEEE/ASME Trans. Mechatron., vol. 5, pp. 199-211, June 2000.
10. M. Guthold, M.R. Falvo, W.G. Matthews et al., "Controlled manipulation of molecular samples with the nanomanipulator," IEEE/ASME Trans. Mechatron., vol. 5, pp. 189-198, June 2000.
11. E. Voltera, E.C. Zachmanoglou, Dynamics of Vibrations, Columbus, Charles E. Merrill Books, Inc., 1965.
12. AN Singh and Y M Ram, "Dynamic absorption in a vibrating beam," Proc. Instn Mech. Engrs Part C: J. Mechanical Engineering Science, vol. 217, no. 2, pp. 187-197, 1 February 2003.
13. Thomas Bailey and James E. Hubbard Jr., "Distributed Piezoelectric-Polymer Active Vibration Control of a Cantilever Beam," J. GUID-ANCE, vol. 8, no.5, SEPT.-OCT. 1985.
14. S Chonan, Z W Jiang and M Koseki, "Soft-handling gripper driven by piezoceramic bimorph strips", Smart Materials and Structures, vol.5, pp.407-414, 1996.
15. S. B. Choi and C. H. Lee, "Force Tracking Control of a Flexible Gripper Driven by Piezoceramic Actuator", ASME Journal of Dynamic Systems, Measurement, and Control, vol.119, no.3, pp.439-446, 1997.
16. Dong Sun and James K. Mills, "Combined PD Feedback and Distributed Piezoelectric-Polymer Vibration Control of a Single-Link Flexible Manipulator", Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference, vol.1, pp. 667-672, 1998.
17. Han Pang Huang and Wei Ming Lin, "Control of a Flexible Robot Ann Using Simplified Fuzzy Controllers," International Journal of Fuzzy Systems, vol. 2, no. 1, March 2000.
18. T. Sulchek, R. Hsieh, J. D. Adams, S. C. Minne, and C. F. quate, "High-speed atomic force microscopy in liquid," review of scientific instruments, vol. 71, no.5, May 2000.
19. B. Rogers, D. York and N. Whisman et al., "Tapping mode atomic force microscopy in liquid with an insulated piezoelectric microactuator," review of scientific instruments, vol. 73, no.9, Sept. 2002.
20. Webpage: http://www.rtai.org.
21. G.Y. Li, N. Xi, M. Yu and W.K. Fung, "Augmented Reality System for Real-time Nanomanipulation," Proceeding of the 3rd IEEE Nanotechnology, August. 12-14, 2003, San Francisco, CA, USA