Abstract
In this paper we demonstrate coordinated control of multiple micromanipulators for use in 2D and 3D micromanipulation tasks. We develop a feature-defined (FD) micro-caging transport primitive for 2D micromanipulation and use a similar methodology to extend it to the 3D case. Simultaneous movements of the coordinated micromanipulators allow for both 2D planar micro-caging grasps and micro-force closure grasps suitable for 3D micro-transporting tasks. Experimental results illustrate the success and accuracies of both the 2D and 3D methodologies. The new transport primitives are used in conjunction with our previous micromanipulation primitives and coordinated XY stage movements to semi-autonomously execute a number of representative 2D and 3D micromanipulation tasks.
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