Abstract: A robotic arm and control system includes a robotic arm which moves in response to one or more command signals. One or more “active” fiducials are located on the arm, each of which emits its own light. A 3D camera having an associated field-of-view is positioned such that at least one fiducial and a target object to be manipulated are in the FOV. To determine their spatial positions, the arm fiducials are activated and the target object is preferably illuminated with a scanning laser; the camera produces output signals which vary with the spatial locations of the fiducials and target object. A controller receives the output signals and uses the spatial position information as feedback to continuously guide the arm towards the target object. Multiple active fiducials may be employed, each having respective characteristics with which they can be differentiated.

Abstract: A system and method for dispensing fluid droplets of a known volume uses a control system using inner and outer control loops. The inner control loop includes a pump which pressurizes a fluid against an aperture, causing fluid to pass through the aperture and to a dispensing tip at a particular flow rate. The pressure of the fluid upstream of the aperture is measured and fed back to a controller, which also receives a setpoint input representative of desired dispensed volume. The outer control loop uses a droplet volume measuring system which determines the volume of the droplet that forms at the outlet of the dispensing tip as a result of the applied pressure, the value of which is also fed to the controller.

Abstract: A test probe positioning method and system displays an image of a micro-device to be probed on a display screen. A “target feature” is selected—either by manual means such as a computer mouse, or by automatic means based on previously-stored information. The pixel address of the selected target feature within the displayed image is determined. A test probe is introduced into the field of view of the image, and its pixel address determined. With target and probe addresses known, the probe is moved to bring it into contact with the target feature. An individual probe is identified from among a plurality of probes by means of coded markings applied to each. The markings are a known distance apart and a known distance from the probe tip. When placed within the field of view, the identity of each probe, and its location relative to the camera, can be determined by observing its pattern of markings.