Reconfigurable Formation Control for Coordinated Micromanipulation of Cross-Scale Targets in Railed Multiprobe Robot

Contact micromanipulations are mostly based on multirobot coordinated operations for specific tasks and targets. However, micromanipulations involve a highly orchestrated set of tasks requiring an uncertain range of flexibilities and dimensions. Therefore, coordination strategies enabling multirobots to dynamically adapt to complex tasks are still needed. Here, we propose a formation-based dynamically reconfigurable control method for railed multirobot coordinated micromanipulation to form a multiconfiguration of end-effectors. Modular micromanipulators perform macro–micro cross-scale motions to complete coordination on the rail. By presetting the configuration, the micromanipulators automatically transform the configuration from single ended to double ended and even multiended using the leader–follower and artificial potential field methods. The virtual "attraction" and "repulsion" generated by the artificial potential function enable the micromanipulators to reach the required formation. Then, the "followers" and "leader" maintain the required position constraints, and the manipulations are completed under the guidance of the "leader." Our experimental results show the feasibility and stability of the control method and the superior following performance. The method can be used to manipulate adhesives of different shapes or fragile targets with sizes between 50 and 1000 μm in a liquid environment and can achieve high success rates of target release within 1.5 s by a poking strategy.