| 摘要 |
PROBLEM TO BE SOLVED: To position a micro manipulator according to the measured tip position by easily observe the tip of a fingertip effector in order to improve positioning accuracy of the tip of the micro manipulator. SOLUTION: A pipe 1 or a rod having the pointed tip is made of glass, for example, so that light 4 may pass through it. However, if the light can pass through, not apply only to glass, any other material can be used. A pipe- shaped or rod-shaped material to be attached to a fingertip effector and through which light passes is called a tip tool. In this case, the positioning device is provided with the tip tool through which light passes, a lighting system for illuminating the inside of the tip tool, a micro manipulator having the tip tool as a fingertip effector, a microscope for observing the tip of the tip tool, a measuring device for measuring the position of the tip after processing the zoomed image of the tip of the tip tool, obtained by the microscope, and a controller for controlling the relative positional relationship between the tip position of the tip tool and the work object or a microscope stage.
|
