Vision-based 2-D automatic micrograsping using coarse-to-fine grasping strategy
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Detail(s)
Original language | English |
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Pages (from-to) | 3324-3331 |
Journal / Publication | IEEE Transactions on Industrial Electronics |
Volume | 55 |
Issue number | 9 |
Publication status | Published - 2008 |
Link(s)
Abstract
In this paper, we propose a visual-servo-control approach and a two-stage grasping strategy and, then, develop control software to perform micrograsping tasks, i.e., to control a passive microgripper to automatically grasp a micropart, in a 2-D plane with high accuracy. In the proposed control scheme, we employ closed-loop control with the use of two position feedback signals: relative positions of the micropart with respect to the microgripper measured by the vision-control system and absolute displacements of the micropart measured by linear encoders. To improve the grasping efficiency and success rate, a two-stage grasping strategy is employed: 1) the bonded microgripper is controlled to directly reach a specific position adjacent to the mating edge of a designated micropart with the same y coordinate, by matching the patterns of the microgripper and the micropart only once, and 2) finely align the micropart with the microgripper along the x and y translation axes of the microassembly robot in the horizontal plane by employing the proposed visual servo control, until the micropart is completely grasped. Experiments conducted with a 6-DOF microassembly robot demonstrate the efficiency and validity of the proposed control approach and grasping strategy. © 2008 IEEE.
Research Area(s)
- 2-D, Microassembly, Visual servo control
Citation Format(s)
Vision-based 2-D automatic micrograsping using coarse-to-fine grasping strategy. / Ren, Lu; Wang, Lidai; Mills, James K. et al.
In: IEEE Transactions on Industrial Electronics, Vol. 55, No. 9, 2008, p. 3324-3331.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review