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Robotic Micromanipulation and Microassembly Using Monoview and Multiscale Visual Servoing

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3 Author(s)
Tamadazte, B. ; Dept. of Autom. Control & Micro-Mechatron. Syst., Univ. of Franche-Comte (UFC), Besançon, France ; Piat, N.L. ; Dembélé, S.

This paper investigates sequential robotic micromanipulation and microassembly in order to build 3-D microsystems and devices. A monoview and multiple scale 2-D visual control scheme is implemented for this purpose. The imaging system used is a photon video microscope endowed with an active zoom enabling to work at multiple scales. It is modeled by a nonlinear projective method, where the relation between the focal length and the zoom factor is explicitly established. A distributed robotic system (xyθ system and φz system) with a two-fingers gripping system is used in conjunction with the imaging system. The results of experiments demonstrate the relevance of the proposed approaches. The tasks were performed with the following accuracy: 1.4 μm for the positioning error and 0.5° for the orientation error.

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Mechatronics, IEEE/ASME Transactions on  (Volume:16 ,  Issue: 2 )