2-D automatic micrograsping tasks performed by visual servo control

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

3 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Pages2119-2124
Publication statusPublished - 2007

Conference

Title2007 IEEE International Symposium on Industrial Electronics (ISIE 2007)
LocationCentro Cultural and Centro Social Caixanova
PlaceSpain
CityVigo
Period4 - 7 June 2007

Abstract

In this paper, we propose a visual servo control approach and develop the corresponding software to perform micrograsping tasks in a two-dimension plane (2-D). Specifically, using a 6 degree-of-freedom (DOF) robotic manipulator to manipulate a micro-gripper and automatically grasp a micro-part. In the proposed control scheme, two types of position feedback signals are utilized. One is the relative positions of the micro-part with respect to the micro-gripper measured by the developed computer vision system, which is used for visual servo control. The other is the absolute displacements of the micro-part measured by the fixed linear encoders, which is used to check the corresponding motions. The whole control software is developed by LabVIEW, to improve operation speed. Furthermore, a two-stage grasping strategy is employed: in the first stage, pattern-matching is performed once and the bonded micro-gripper is controlled, to directly reach a specific position adjacent to the mating edge of a designated micro-part with the same y coordinate; in the second stage, pattern-matching is performed at each control update interval while the micro-gripper is displaced towards the micro-part with steps on the order of one micron magnitude, until the micro-part is completely grasped. Experiments conducted on a 6-DOF experimental manipulator demonstrate the efficiency and validity of the proposed control approach and grasping strategy. ©2007 IEEE.

Research Area(s)

  • 2-D, Microassembly, Visual servo control

Citation Format(s)

2-D automatic micrograsping tasks performed by visual servo control. / Ren, Lu; Wang, Lidai; Mills, James K. et al.
IEEE International Symposium on Industrial Electronics. 2007. p. 2119-2124 4374935.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review