Title :
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
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;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9355-4
DOI :
10.1109/CIRA.2005.1554265
