Title :
Hybrid Control of Vision and Force for MEMS Assembly System
Author :
Liguo, Chen ; Lining, Sun ; Weibin, Rong ; Xinqian, Bian
Author_Institution :
Inst. of Robot Res., Harbin Inst. of Technol.
Abstract :
In this paper, we present a MEMS assembly system under hybrid control of vision and force feedback. The construction of a micro-vision system is introduced in detail and a new micro-force sensor was developed. The strategies of integrating force and vision feedback have been investigated experimentally and impact experimental results are presented. A task of pin in hole of Phi 0.1mm was completed. Using force feedback alone, at least twice as many searching steps are needed, while based on the hybrid control of micro-vision and micro-force feedback, one searching step is enough
Keywords :
force feedback; force sensors; microassembling; micromanipulators; micromechanical devices; robot vision; robotic assembly; MEMS assembly system; force feedback; hybrid control; microforce sensor; microvision system; vision feedback; Assembly systems; Control systems; Force control; Force feedback; Force sensors; Grippers; Microassembly; Micromanipulators; Micromechanical devices; Microscopy;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521765
