Informations

Type
inproceedings
Key
2013_isot_amari
Authors
Amari, Nabil and Folio, David and Belharet, Karim and Ferreira, Antoine
HAL
00943322
2013_isot_amari.

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_isot_amari,
  title = {Motion of a Micro/Nanomanipulator using a Laser Beam Tracking System},
  author = {Amari, Nabil and Folio, David and Belharet, Karim and Ferreira, Antoine},
  booktitle = {International Symposium on Optomechatronic Technologies (ISOT\'2013)},
  year = {2013},
  month = oct,
  address = {Jeju Island, Korea},
  hal = {00943322},
  keywords = {Micromanipulation, Micro/nanomanipulator, Robust control, Laser Beam}
}