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Modeling, identification and control of a thermal glue-based temporary fixing system: application to the micro-robotic field

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3 Author(s)
C. Clevy ; Laboratoire d'Automatique de Besancon, UMR CNRS, Besancon ; A. Hubert ; N. Chaillet

The purpose of this paper is to present a temporary fixing system based on a thermal glue that is well-adapted to micro-robotics. In the paper, this system is used to design a tool changer but can be generalized to other micro-robotic applications. A thermal modeling and an identification procedure are presented to propose a strategy to control the system. This system takes place into a micromanipulation station to gain flexibility, space and complexity. Indeed, to perform sequences of micromanipulation tasks (i.e. micro-assembly sequences), only one manipulator, able to use sequentially several end-effectors, has to be used instead of several dedicated to one specific task

Published in:

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Date of Conference:

15-19 May 2006