Informations

Type
inproceedings
Key
2013_iros_amari
Authors
Amari, Nabil and Folio, David and Ferreira, Antoine
http://doi.org/10.1109/IROS.2013.6696554
HAL
00864776
2013_iros_amari.
Metrics

Abstract

This paper presents a study of the control problem of a laser beam illuminating and focusing a microobject subjected to dynamic disturbances using light intensity for feedback only. The main idea is to guide and track the beam with a hybrid micro/nanomanipulator which is driven by a control signal generated by processing the beam intensity sensed by a four-quadrant photodiode. Since the pointing location of the beam depends on real-time control issues related to temperature variation, vibrations, output intensity control, and collimation of the light output, the 2-D beam location to the photodiode sensor measurement output is estimated in real-time. We use the Kalman filter (KF) algorithm for estimating the state of the linear system necessary for implementing the proposed track-following control approach. To do so a robust master/slave control strategy for dual-stage micro/nanomanipulator is presented based on sensitivity function decoupling design methodology. The decoupled feedback controller is synthesized and implemented in a 6 dof micro/nanomanipulator capable of nanometer resolution through several hundreds micrometer range. A case study relevant to tracking a laser-beam for imaging purposes is presented

Keywords


BibTeX:

 @inproceedings{2013_iros_amari,
  title = {Robust Laser Beam Tracking Control using Micro/Nano Dual-Stage Manipulators},
  author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2013)},
  year = {2013},
  doi = {10.1109/IROS.2013.6696554},
  month = nov,
  pages = {1543--1548},
  address = {Tokyo Big Sight, Japan},
  hal = {00864776},
  ieeexplore = {6696554},
  keywords = {Micromanipulation, Micro/nanomanipulator, Robust control, Laser Beam}
}