Automated microassembly task execution using vision-based feedback control

被引：0
|
作者：
Anis, Yasser H. [1 ]
Mills, James. K. [1 ]
Cleghorn, William L. [1 ]
机构：
[1] Univ Toronto, Dept Mech & Ind Engn, Toronto, ON M5S 3G8, Canada
来源：
2007 INTERNATIONAL CONFERENCE ON INFORMATION ACQUISITION, VOLS 1 AND 2 | 2007年
关键词：
MEMS microassembly; automated grasping; visual servoing;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we introduce a vision based feedback control system used in the automation of microassembly of MEMS devices. The proposed system permits the automatic grasping of microparts using a passive compliant microgripper, the first step towards achieving complete automation of the microassembly process. Vision-based relative position and microassembly force feedbacks are fused and supplied to a fuzzy logic controller that corrects the alignment of the microgripper and micropart and guides the system towards achieving a successful grasp. The performance of, the system is investigated experimentally, and the experimental results are presented.
引用
收藏
页码：477 / 482
页数：6
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