Title :
Control System of an Automated Nanohandling Robot Cell
Author :
Stolle, Christian ; Fatikow, Sergej
Author_Institution :
Univ. of Oldenburg, Oldenburg
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;
Conference_Titel :
Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0440-7
Electronic_ISBN :
2158-9860
DOI :
10.1109/ISIC.2007.4450964
