Adhesion state detection by vision and its application to automatic micro manipulation

In our previous paper, we proposed a method for reducing adhesion forces by oscillation. However, the following problems have not been still resolved: (1) Since adhesion state was checked by analyzing the data obtained by laser displacement meter, this method is available in only limited situations. (2) Automatic checking system for adhesion state was not developed. (3) Automatic micro manipulation system was not developed. Considering the above, in this paper, we propose a method to automatically check adhesion state by vision. Firstly, we develop a method to estimate the amplitude of the oscillation using the blur resulted from the oscillation. We call the estimated amplitude AIV (amplitude indicating value). Then, we develop a method for checking adhesion state by AIV. Based on the checking method, we develop a automatic micro manipulation system for pick and place operation. The validity of our method is shown by experiments.