Automatic dextrous handling of micro components using a 6 DOF microgripper

Author

Korhonen, Petteri ; Zhou, Quan ; Laitinen, Jukka ; Sjovall, Sami

Author_Institution

Control Eng. Lab., Helsinki Univ. of Technol., Espoo, Finland

fYear

2005

fDate

27-30 June 2005

Firstpage

125

Lastpage

131

Abstract

This paper presents an automatic dextrous handling and inspection system for optoelectronics components using a novel 6 DOF microgripper. The control system includes three hierarchical layers: actuator control layer, motion planning layer, and mission layer. Visual servoing is applied in automatic manipulation. The performance of the system is demonstrated in a machine vision based automatic inspection task for 300 × 300 × 100 μm optoelectronics components.

Keywords

actuators; automatic optical inspection; dexterous manipulators; grippers; image motion analysis; materials handling; micromanipulators; optoelectronic devices; path planning; actuator control; automatic dextrous handling; automatic inspection; automatic manipulation; machine vision; microgripper; mission layer; motion planning; optoelectronics components; visual servoing; Automatic control; Capacitive sensors; Control systems; Electronics industry; Grippers; Inspection; Mechatronics; Microscopy; Motion control; Piezoelectric actuators;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554265

Filename

1554265