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1 AS2M-MINAROB FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies 2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies

Abstract : Nanosciences have recently proposed a lot of proofs of concept of innovative nanocomponents and especially nanosensors. Going from the current proofs of concept on this scale to reliable industrial systems requires the emergence of a new generation of manufacturing methods able to move, position and sort micro-nano-components. We propose to develop -No Weight Robots-NWR- that use non-contact transmission of movement e.g. dielectrophoresis, magnetophoresis to manipulate micro-nano-objects which could enable simultaneous high throughput and high precision. This paper focuses on developing a 2D robotic control of the trajectory of a microobject manipulated by a dielectrophoresis system. A 2D dynamic model is used to establish an open loop control law by a numerical inversion. Exploiting this control law, a high speed trajectory tracking 10 Hz and high precision positioning can be achieved. Several simulated and experimental results are shown to evaluate this control strategy and discuss its performance.





Autor: Mohamed Kharboutly - Alexandre Melis - Aude Bolopion - Nicolas Chaillet - Michaël Gauthier -

Fuente: https://hal.archives-ouvertes.fr/



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