Title :
Automating microassembly with ortho-tweezers and force sensing
Author :
Thompson, J.A. ; Fearing, R.S.
Author_Institution :
Dept. of EE&CS, California Univ., Berkeley, CA, USA
Abstract :
We describe a microassembly system based on two one degree of freedom probes ("ortho-tweezers") and a three degree of freedom translating stage, controlled by a Java application with Python scripting support. We describe how basic manipulation primitives can be combined in a Python script to perform automated, force-feedback controlled assembly operations. We demonstrate a fully automated pick and place task using 200×200×100 micron blocks. Using a temporary handling block, the system can manipulate long, thin, fragile parts, such as semiconductor strain gauges
Keywords :
force feedback; force sensors; microassembling; micromanipulators; probes; 100 micron; 200 micron; Java application; Python scripting support; automated force-feedback controlled assembly operations; basic manipulation primitives; force sensing; long thin fragile parts; microassembly system; ortho-tweezers; pick and place task; probes; semiconductor strain gauges; temporary handling block; three degree of freedom translating stage; Automatic control; Capacitive sensors; Feedback loop; Fixtures; Force control; Grippers; Microassembly; Microscopy; Open loop systems; Probes;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977166
