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Automatic microassembly system assisted by vision servoing and virtual reality

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3 Author(s)
Ferreira, A. ; Lab. Vision et Robotique, Bourges, France ; Cassier, C. ; Hirai, S.

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.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:9 ,  Issue: 2 )