Vision-Based Control Approaches for Trajectory Correction of Microrobots

  • K. Santa
  • U. Rembold
  • H. Woern
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)


For automated micromanipulation station (Figure 1) developed at the University of Karlsruhe several piezoelectric microrobots have been built, they are capable of moving over long distances and of manipulating in a range of a few nm [1].


Hide Layer Velocity Parameter Trained Neural Network Neural Controller Fine Manipulation 
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  1. [1]
    Th. Fischer, K. Santa, S. Fatikow (1996): „Sensor system and powerful computer system for controlling a microrobot-based micromanipulation station”, Proc. of the 7th Micromechanics Europe 1996, Barcelona, Spain, pp. 283–286.Google Scholar
  2. [2]
    K. Santa, H. Woern (1997): „Intelligente Ansteuerung von autonomen Mikrorobotern in einer Mikromanipulationsstation”, Stuttgart, Germany, Proc. of the 13th Autonome Mobile Systeme 1997, pp. 199–209.Google Scholar
  3. [3]
    K. Santa, S. Fatikow, G. Felso (1997): „Control of microassembly-robots by fuzzy-logic and neural networks”, Advanced Summer Institute 1997,Budapest, Hungary.Google Scholar
  4. [4]
    K. Santa, M. Riedmiller, M. Mews (1998): „A Neural approach for the control of piezoelectric micromanipulation robots”, Journal of Intelligent & Robotic Systems, Netherlands, 1998 (accepted).Google Scholar

Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • K. Santa
  • U. Rembold
  • H. Woern

There are no affiliations available

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