3-D automatic microassembly by vision-based control

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

25 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages297-302
Publication statusPublished - 2007

Conference

Title2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
PlaceUnited States
CitySan Diego, CA
Period29 October - 2 November 2007

Abstract

In this paper, we propose a vision control strategy to perform automatic microassembly tasks in three-dimension (3-D), and develop relevant control software. Specifically, using a 6 degree-of-freedom (DOF) robotic workstation to control a passive microgripper to automatically grasp a designated micropart from the chip, pivot the micropart, and then move the micropart to vertically insert into a designated slot on the chip. In the proposed control strategy, the whole microassembly task is divided into two subtasks, micro-grasping and micro-joining, in sequence. To guarantee the success of microassembly and manipulation accuracy, two different two-stage feedback motion strategies, the pattern matching and auto-focus method are employed, with the use of vision-based control system and the vision control software developed. Experiments conducted demonstrate the efficiency and validity of the proposed control strategy. ©2007 IEEE.

Research Area(s)

  • 3-D, Automatic microassembly, MEMS, Vision control

Citation Format(s)

3-D automatic microassembly by vision-based control. / Ren, Lu; Wang, Lidai; Mills, James K. et al.
IEEE International Conference on Intelligent Robots and Systems. 2007. p. 297-302 4399103.

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