マイクロオブジェクトケージングのためのマイクロロボットの軌道計画と制御

抄録

Four opto-thermocapillary flow-addressed bubble (OFB) microrobots were automatically actuated to cage a microbead. These microrobots were created automatically at a precise location of the working area and actuated using an open-loop control system. Caging positions around the bead were calculated based on the size and location of the bead obtained by an image processing algorithm. Paths for each microrobot from the generation site to caging positions were generated and used to actuate them. With the fixed formation, microrobots were controlled caging and transporting the bead. This work demonstrates the possibility of controlling multiple microrobots with feedback for automated micro-assembly.