3-D automatic microassembly by vision-based control

In this paper, we propose a vision control strategy to perform automatic microassembly tasks in threedimension (3-D), and develop relevant control software. Specifically, using a 6 degree-of-freedom (DOF) robotic workstation to control a passive microgripper to automatically grasp a designated micropart from the chip, pivot the micropart, and then move the micropart to vertically insert into a designated slot on the chip. In the proposed control strategy, the whole microassembly task is divided into two subtasks, micro-grasping and micro-joining, in sequence. To guarantee the success of microassembly and manipulation accuracy, two different two-stage feedback motion strategies, the pattern matching and auto-focus method are employed, with the use of vision-based control system and the vision control software developed. Experiments conducted demonstrate the efficiency and validity of the proposed control strategy.

Authors

• Lu Ren
• Lidai Wang
• James K. Mills
• Dong Sun 0001

Keywords

• Microassembly
• Automatic control
• Motion control
• Control systems
• Software performance
• Robotics and automation
• Workstations
• Robot control
• Grippers
• Feedback
• Vision-based Control
• Control Strategy
• Pattern Matching
• Two-stage Strategy
• Microstructure
• Field Of View
• Grayscale
• Points In Space
• Focal Plane
• Microscope System
• Rotation Axis
• LabVIEW
• Stepper Motor
• Joint Feature
• Insertion Depth
• Automatic Operation
• Vision-based Approaches
• MEMS
• Automatic Microassembly
• Vision
• Control
• 3-D