Title :
Marking techniques for vision recognition of microgrippers for micromanipulation
Author :
Eisinberg, Anna ; Houston, Keith ; Dario, Paolo ; Caparrelli, Fabio ; Amavasai, Bala ; Boissenin, Manuel
Author_Institution :
CRIM Lab, Scuola Superiore di Studi e Perfezionamento, Pisa
Abstract :
In this paper, two methods of marking microgrippers are described, which can be used for vision recognition in micromanipulation tasks. The two techniques are shape-based FIB (focused ion beam) triangle machining and colour-based polymer ink marking; these have been applied to several microgrippers that were manufactured from stainless steel using micro-EDM (electro discharge machining). A method for detecting the colour-based markers was developed and the results presented
Keywords :
dexterous manipulators; electrical discharge machining; industrial manipulators; micromanipulators; robot vision; colour-based polymer ink marking; electro discharge machining; focused ion beam; marking techniques; microgrippers; micromanipulation; triangle machining; vision recognition; Application software; Focusing; Grippers; Ink; Ion beams; Machine vision; Machining; Manufacturing; Polymers; Steel;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641845
