Abstract：This paper puts forward a solution to batch micro operations based on primitive control and operating field map. In batch micro operations, three problems must be solved to implement automatic operations: narrow field of micro vision, unstructured distribution of targets and operation time limit. Based on object oriented software architecture of bedding and refinement, this paper introduces an intelligent control approach based on primitive and a multiple targets fast markup approach on operating field map, and solves the automation problems in batch micro operations. Experiment proves that both primitive control and target half structural locating on operating field map are feasible.
[1] 温遇华,卢桂章,赵新.微操作机器人中基于原语的智能控制方法[J].机器人,2003,25(4):331-334. [2] Wen Y H,Lu G Z,Zhao X.Micro-operation robot software design on o-o and primitive control[A]. Proceedings of the 2003 IEEE International Conference on Control and Automation[C]. 2003. 163167. [3] Sun Y, Nelson B J. Microrobotic cell injection[A]. Proceedings of the 2001 IEEE International Conference on Robotics & Automation [C]. 2001. 620-625. [4] 赵玮,宗光华,李旭东,等.视觉引导的生物细胞自动操作运动规划的研究[J].高技术通讯,2001,(8):93-96. [5] Li X D, Zong G H, Bi S S. Development of global vision system for biological automatic micro-manipulation system [A]. Proceedings of the 2001 IEEE International Conference on Robotics & Automation [C]. 2001. 127-132. [6] 卢桂章,张建勋,赵新.面向生物工程实验的微操作机器人[J].南开大学学报,1999,32(3):42-46. [7] 周远清等.智能机器人[M].北京:清华大学出版社,1989. [8] Sato T, Kameya T, Miyazaki H, et al. Hand-eye system in nano manipulation world[A]. Proceedings of the 1995 IEEE International Conference on Robotics & Automation[C]. 1995. 5966. [9] Tankikawa T, Arai T, Ojala P, et al. Two-finger micro hand[A].Proceedings of the 1995 IEEE International Conference on Robotics & Automation[C]. 1995. 1674-1679.
