Vision-Guided 3D Cooperative Micromanipulation with Dual Probes
Year: 2026
Type: conference-paper
Abstract: This paper proposes a dual-probe collaborative micro-manipulation system based on single vision, aiming to address the challenges faced by three-dimensional positioning and collaborative manipulation at the microscopic scale. The system achieves three-dimensional positioning of probes and the microsphere by integrating an auto-focusing algorithm based on image clarity evaluation and two-dimensional visual feedback. It employs an anti-collision approach based on target geometric isolation and a geometric constraint open-loop grasping method to achieve stable gripping of 100 μm polystyrene microspheres. On this basis, a collaborative three-dimensional spiral trajectory generation and step-by-step closed-loop tracking control for dual probes are designed and implemented. Experimental results show that the dual probes can successfully grasp the microsphere and collaboratively complete the preset three-dimensional spiral motion, with tracking errors in the X and Y directions kept within ±4 μm and errors in the Z direction below ±0.5 μm, verifying the effectiveness of the proposed system and control strategy in microscopic automation operations. This method provides a reliable and effective solution for high-precision 3D positioning and collaborative motion control in micro-nano automation operations, and holds significant potential for applications in fields such as microassembly, biomedical engineering, and advanced microsystem manufacturing.
Authors: Ziming Xu, Miaoyu Yu, Hao Chen, Panbing Wang
Institution: Southeast University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7170198576