Published January 1, 2017
| Version v1
Journal article
Open
Real-Time Holographic Tracking and Control of Microrobots
Creators
- 1. Swiss Fed Inst Technol, Multiscale Robot Lab, CH-8092 Zurich, Switzerland
- 2. Istanbul Medipol Univ, Sch Engn & Nat Sci, TR-34083 Istanbul, Turkey
Description
Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of +/- 23 and +/- 180 mu m, respectively. As this method does not require magnification, microrobots can be tracked in significantly larger working volumes than conventional optical methods. The performance of this tracking method is demonstrated by visually servoing a magnetic bead around a cubic trajectory.
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