Trajectory planning for micromanipulation with a non-redundant digital microrobot: shortest path algorithm optimization with hypercube graph representation

Vincent Chalvet (1) , Yassine Haddab (1) , Philippe Lutz (1)

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

Microrobotics is an ongoing study all over the world for which design is often inspired from macroscale robots. We have proposed the design of a new kind of microfabricated microrobot based on the use of binary actuators in order to generate a highly accurate and repeatable tool for positioning tasks at microscale without any sensor (with open-loop control). Our previous work consisted in the design, modeling, fabrication and characterization of the first planar digital microrobot. In this paper we focus on the motion planning of this robot for micromanipulation tasks. The complex motion pattern of this robot requires the use of algorithms. Graph theory is well suited for the discrete workspace generated by this robot. The comparison between several wellknown trajectory planning algorithms is done. A new graphical representation, named the hypercubic graph, is used for improving the computation speed of the algorithm. This is particularly useful for large workspace robots.

Domaines: Algorithme et structure de données [cs.DS]; Automatique / Robotique

Vincent Chalvet, Yassine Haddab, Philippe Lutz. Trajectory planning for micromanipulation with a non-redundant digital microrobot: shortest path algorithm optimization with hypercube graph representation. Journal of Mechanisms and Robotics, 2016, 8 (2), pp.021013 (9). ⟨hal-02868185⟩