Control System of an Automated Nanohandling Robot Cell

Author

Stolle, Christian ; Fatikow, Sergej

Author_Institution

Univ. of Oldenburg, Oldenburg

fYear

2007

fDate

1-3 Oct. 2007

Firstpage

664

Lastpage

669

Abstract

Current research work on the development of a nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two microrobots operate in the vacuum chamber of an SEM. In order to enable automatic nanohandling, a modular control system architecture is proposed. Different microrobots can be integrated in a flexible manner using a common control interface. The system easily scales up for more complex robot and sensor setups. Parallel execution of open and closed-loop control tasks can be performed. The functionality of the robot cell is exemplified by handling and mechanical characterization of carbon nanotubes (CNT).

Keywords

carbon nanotubes; closed loop systems; control engineering computing; control system synthesis; micromanipulators; microrobots; mobile robots; nanotechnology; open loop systems; scanning electron microscopes; software architecture; SEM vacuum chamber; automated nanohandling robot cell; carbon nanotubes; closed-loop control tasks; micromanipulator; microrobots; modular control system architecture; open loop control tasks; scanning electron microscope; software architecture; Actuators; Automatic control; Control systems; Micromanipulators; Nanopositioning; Open loop systems; Robot sensing systems; Robotics and automation; Scanning electron microscopy; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on

Conference_Location

Singapore

ISSN

2158-9860

Print_ISBN

978-1-4244-0440-7

Electronic_ISBN

2158-9860

Type

conf

DOI

10.1109/ISIC.2007.4450964

Filename

4450964