Presentation, Force Estimation and Control of an instrumented platform dedicated to automated micromanipulation tasks.

Micky Rakotondrabe (1) , Cédric Clévy (1) , Kanty Rabenorosoa (1) , Kamel Ncir (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

This paper presents a platform used to measure micromanipulation forces. The main interest of the proposed platform is that it uses classical force sensors with limited range and adapts these sensors to that of micromanipulation forces. The proposed platform, and an additional micropositioning device, are afterwards used to develop a micromanipulation system. To automate this system, we design two control levels. First, an internal loop with a PID controller is employed to improve the micropositioning device's performances. Then, an external loop based on an incremental control law is implemented to control the force. The automated system is finally used for the micromanipulation task on rigid and non-rigid microobjects.

Domaines: Micro et nanotechnologies/Microélectronique

Micky Rakotondrabe, Cédric Clévy, Kanty Rabenorosoa, Kamel Ncir. Presentation, Force Estimation and Control of an instrumented platform dedicated to automated micromanipulation tasks.. 6th Annual IEEE Confernece on Automation Science and Engineering, CASE'10., Aug 2010, Toronto, Ontario, Canada. pp.722-727. ⟨hal-00544883⟩