Title :
A versatile vision system for micromanipulation tasks
Author :
Burkle, Axel ; Schmoeckel, F. ; Wörn, H. ; Amavasai, B.P. ; Caparrelli, F. ; Travis, J.R.
Author_Institution :
Fak. fur Inf., Karlsruhe Univ., Germany
Abstract :
Semi-autonomous and fully autonomous assembly and manipulation of micro-objects is a complex process. To this purpose, flexible microrobot systems have been designed and developed. These robots are generally required to operate in a wide range of environments to perform tasks such as microassembly, cell manipulation and particle grasping. As part of the MINIMAN project, a flexible microrobot system has been developed which can operate under a light microscope as well as in the chamber of a scanning electron microscope (SEM). This system is highly flexible, reconfigurable and uses a wide range of sensor information (force, tactile and vision) in a closed-loop controlled strategy. The paper presents an overview of the vision system and its architecture for vision-controlled micromanipulation. The different modules of the vision system and the communication interface to the control system are herewith described in detail.
Keywords :
closed loop systems; flexible manipulators; microassembling; micromanipulators; object recognition; position control; robot vision; MINIMAN project; cell manipulation; closed-loop controlled strategy; flexible microrobot; fully autonomous assembly; fully autonomous manipulation; light microscope; micro-objects; microassembly; micromanipulation tasks; object recognition; particle grasping; scanning electron microscope; semi-autonomous assembly; semi-autonomous manipulation; vision sensors; vision system; Communication system control; Control systems; Force sensors; Machine vision; Microassembly; Robotic assembly; Robots; Scanning electron microscopy; Sensor systems; Tactile sensors;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2001. MFI 2001. International Conference on
Print_ISBN :
3-00-008260-3
DOI :
10.1109/MFI.2001.1013546