Micromanipulation using a microassembly workstation with vision and force sensing

Bilen, Hakan and Ünel, Mustafa (2008) Micromanipulation using a microassembly workstation with vision and force sensing. In: Huang, D.-S., (ed.) Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues. Lecture Notes in Computer Science, 5226/2008. Springer , Berlin / Heidelberg, pp. 1164-1172. ISBN 978-3-540-87440-9

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Official URL: http://dx.doi.org/10.1007/978-3-540-87442-3_144


This paper reports our ongoing work on a microassembly workstation developed for efficient and robust 3D automated assembly of microobjects. The workstation consists of multiple view imaging system, two 3-DOF high precision micromanipulators, and a 3-DOF positioning stage with high resolution rotation control, force sensing probe and gripper, and the control software system. A hybrid control scheme using both vision and force sensory information is proposed for precise and dexterous manipulation of microobjects. A micromanipulation experiment that aims to locate the microspheres to the predefined configuration by using an integrated vision and force control scheme is successfully demonstrated to show the validity of the proposed methods.

Item Type:Book Section / Chapter
Additional Information:DOI: 10.1007/978-3-540-87442-3_144
Uncontrolled Keywords:microassembly - micromanipulation - visual servoing - force control
Subjects:T Technology > T Technology (General)
ID Code:9834
Deposited By:Mustafa Ünel
Deposited On:30 Oct 2008 22:43
Last Modified:19 Jul 2019 14:41

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