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Stochastic trajectory planning and navigation for AFM based nano robotic manipulation
Yuan S(袁帅); Liu LQ(刘连庆); Wang ZD(王志东); Xi N(席宁); Wang YC(王越超)
作者部门机器人学研究室
会议名称11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期June 29 - July 4, 2014
会议地点Shenyang, China
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码958-963
收录类别EI ; CPCI(ISTP)
EI收录号20152600977347
WOS记录号WOS:000393066200169
产权排序1
ISBN号978-1-4799-5825-2
关键词Afm Nanomanipulation Trajectory Planning
摘要AFM based nano robotics uses the tip to perform observing and maneuvering with high resolution and accuracy. The tip position uncertainties in the task space due to the PZT nonlinearity and thermal drift is compensated by using the landmarks existing in the task region. This method can detect and control the accuracy of the relative position between AFM tip and the interest object. However, as for the complex situations including several features and seldom features in the task regions, the tip trajectory need to be planned, and its position accuracy is required to be retained in the allowance. So this paper proposes the stochastic trajectory planning and navigation based on local scan by using the shortest path according to the tip motion model. The observation distance is defined and landmark adjacency matrix is established for designing the observed landmarks. Also the landmark domain is defined to actively configure the feature. The simulation and experimental results are performed to illustrate the efficiency of the proposed method.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15383
专题机器人学研究室
通讯作者Yuan S(袁帅)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China
2.Shenyang Jianzhu University, Shenyang, China
3.Dept. of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan
4.Dept. of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, Hong Kong
推荐引用方式
GB/T 7714
Yuan S,Liu LQ,Wang ZD,et al. Stochastic trajectory planning and navigation for AFM based nano robotic manipulation[C]. Piscataway, NJ, USA:IEEE,2014:958-963.
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