Title :
Automatic microassembly system assisted by vision servoing and virtual reality
Author :
Ferreira, Antoine ; Cassier, Claude ; Hirai, Shigeoki
Author_Institution :
Lab. Vision et Robotique, Bourges, France
fDate :
6/1/2004 12:00:00 AM
Abstract :
We proposed an automated micromanipulation workcell for visually servoed teleoperated microassembly assisted by virtual reality techniques. It is composed of two micromanipulators equipped with microtools operating under a light microscope. Visual servoing techniques are applied for efficient and reliable position/force feedback during microassembly tasks. First, a pushing-based micromanipulation strategy for the microobject to follow a planned trajectory is proposed under vision based-position control. Then, we present the cooperation control strategy of the microhandling operation under vision-based force control integrating a sensor fusion framework approach. A guiding-system based on virtual microworld exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated microworld. Finally, a planned scenario is executed and experimental results of microassembly tasks performed on millimeter-sized components are provided.
Keywords :
CAD/CAM; digital simulation; force control; force feedback; image motion analysis; microassembling; micromanipulators; microrobots; path planning; position control; robot vision; sensor fusion; telerobotics; virtual manufacturing; CAD-CAM databases; automated micromanipulation workcell; automatic microassembly system; contact force models; cooperation control strategy; force feedback; guiding system; light microscope; microhandling operation; microrobotics; millimeter-sized components; position feedback; pushing-based micromanipulation strategy; robotic simulation; sensor fusion framework approach; virtual microworld; virtual reality techniques; vision servoing techniques; vision-based force control; vision-based position control; Databases; Force control; Force feedback; Machine vision; Microassembly; Micromanipulators; Microscopy; Sensor fusion; Virtual reality; Visual servoing;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2004.828655