Auto-configuration and self-calibration in flexible robot-based micro-/nanohandling cells

Fatikow, Sergej and Stolle, Christian and Diederichs, Claas and Jasper, Daniel
Mobile robots capable of micro- and nanohandling are a valuable research tool and can be effortlessly integrated into different microscope systems. In this paper, this effortless integration is extended to automated closed-loop positioning based on different external sensors. In three steps, a robot can automatically characterize the employed sensors, determine its location and orientation within the sensors' coordinate systems and determine its own motion behavior, which is influenced by the specific environment. Additionally, an automated mapping between multiple sensor coordinate systems can be performed simplifying later automation steps. With the described techniques, the integration of mobile microrobots into a specific system can be done fully automatically.
09 / 2011