Research Information System
IEEE Robotics and Automation Letters, vol.2, no.1, pp.143-148, 2017 (Scopus)
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 $\pm$ 23 and $\pm$ 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.