WP3 - Control


This work package deals with the development of a force-based closed-loop control and coupling between the end-user and the microrobotic system.

Force-based closed-loop control gives helpful information for performing tasks at the micro-scale. In fact, fully position based already shows very promising results but does not enable to take into account interaction forces and surface forces like pull-off forces that are greatly influent at the micro-scale. The force based control at these scales appears to be an appropriate solution for guidance of the tool toward the object.

Coupling between the end-user and the microrobotic system is a promising solution to use man in the loop for the control of microrobotic systems. In fact, force feedback teleoperation with a sufficient level of fidelity in the reproduction of micro-scale physics would assist end-user in carrying out manipulation and assembly tasks.