Automatic micropart assembly of 3-Dimensional structure by vision based control

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)2426-2435
Journal / PublicationJournal of Mechanical Science and Technology
Issue number12
Publication statusPublished - Dec 2008
Externally publishedYes


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 be vertically inserted 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. © 2008 The Korean Society of Mechanical Engineers and Springer-Verlag GmbH.

Research Area(s)

  • Assembly, Automatic, MEMS, Micro, Vision