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Erschienen in:
2008 | OriginalPaper | Buchkapitel
Learning Controller for Microrobots
verfasst von : Helge Hülsen
Erschienen in: Automated Nanohandling by Microrobots
Verlag: Springer London
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The
mobile microrobots
developed by AMiR and described in the previous chapter are controlled automatically or via teleoperation. Feedback during these processes is provided by a global pose sensor, which could be a scanning electron microscope (SEM), a light microscope or a video camera. As described in the next section, the mobile microrobot’s pose controller contains several sequential subtasks that are performed before the signals that are applied to the microrobot’s actuators are determined. These subtasks are either performed by a computer in automatic mode or by a human being in teleoperation mode (Figure 3.1), except for the actuator controller, which is typically implemented by an electronic device or a computer.