By Topic

Robotic Micromanipulation and Microassembly Using Monoview and Multiscale Visual Servoing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Brahim Tamadazte ; Department of Automatic Control and Micro-Mechatronic Systems, Franche-Comté Electronique Mécanique Thermique et Optique Sciences et Technologies (FEMTO-ST) Institute, University of Franche-Comté (UFC)/Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)/University of Technology of Belfort-Montbéliard (UTBM), Unités Mixtes de Recherche (UMR) Centre National de la Recherche Scientifique (CNRS) 6174, 25000 Besançon, France ; Nadine Le-Fort Piat ; Sounkalo Dembélé

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.

Published in:

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