This paper demonstrates the automatic pick-and-place of a small object in 2D using a magnetically navigated microrobot (MNM) and a motorized micromanipulator (MM). A master/slave control mechanism is used in the manipulation process. The MM is the master manipulator. The MNM is the slave manipulator. To avoid damaging the object by large holding force and to maintain successful holding, a position-based impedance control algorithm is implemented to the slave side. The feedback force to the impedance controller is obtained from an off-board force determination mechanism which overcomes the disadvantages of installing an on-board force sensor on the MNM. The performance of the proposed manipulation system was examined experimentally by transporting a hard-shell object to its desired destinations with predefined holding force. To the authors knowledge, this is the first work reported using a magnetically navigated microrobot to complete manipulation tasks with a screw type manipulator. The proposed system has potential utility in microinjection if the MNM was scaled down to proper size.

本文演示了使用磁导航微型机器人（MNM）和电动微型操纵器（MM）以二维方式自动拾取和放置小物体的过程。在操作过程中使用主/从控制机制。MM是主操纵器。MNM是从属操纵器。为了避免大的保持力损坏物体并保持成功的保持，对从机侧实施了基于位置的阻抗控制算法。从场外力确定机构获得对阻抗控制器的反馈力，该机构克服了在MNM上安装场内力传感器的缺点。通过以预定的夹持力将硬壳物体运输到其所需的位置，通过实验检查了所提出的操纵系统的性能。据作者所知，这是首次报道使用磁导航微型机器人完成螺旋型机械手的操纵任务的工作。如果将MNM缩小到适当的大小，则建议的系统在显微注射中具有潜在的实用性。