Multi View and Multi Scale Image Based Visual Servo For Micromanipulation

Fort-Piat²,

Dembélé³

et al. 2009

J. Micro-Nano Mech.

The paper investigates robotic assembly by focusing on the manipulation of microparts. This task is formalized through the notion of basic tasks which are organized in a logical sequence represented by a function chart and interpreted as the model of the behavior of the experimental setup. The latter includes a robotic system, a gripping system, an imaging system, and a clean environment. The imaging system is a photon videomicroscope able to work at multiple scales. It is modelled by a linear projective model where the relation between the scale factor and the magnification or zoom is explicitly established. So, the usual visual control law is modified in order to take into account this relation. The manipulation of some silicon microparts (400 μm × 400 μm × 100 μm) by means of a distributed robotic system (xyθ system, ϕz system), a twofinger gripping system and a controllable zoom and focus videomicroscope shows the relevance of the concepts. The 30% of failure rate comes mainly from the physical phenomena (electrostatic and capillary forces) instead of the accuracy of control or the occultations of microparts.

Section: Contributions and Organizationmentioning

confidence: 99%

Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

Fort-Piat²,

Dembélé³

et al. 2009

J. Micro-Nano Mech.

“…In the second test, the humidity was constant but the temperature ranged between 0 • C and 40 • C in steps of 5 • C. The pick-and-place operations showed important translation and rotation errors according to the temperature and humidity conditions. For other reasons, such as dust-microparticle avoidance on the manipulation area, it is strongly recommended that a controlled environment is used (del Corrala et al, 2002;Zhou et al, 2002;Devanathan et al, 2006). Therefore, the current experiments took place in a controlled environment and on a vibration-free table, providing maximum rejection of environmental perturbations.…”

Section: Environment Control Systemmentioning

confidence: 99%

CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly

The International Journal of Robotics Research

Marchand

Dembélé

et al. 2010

This paper investigates sequential robotic microassembly for the construction of 3D micro-electro-mechanical systems (MEMS) structures using a 3D visual servoing approach. The previous solutions proposed in the literature for these kinds of problems are based on 2D visual control because of the lack of precise and robust 3D measures from the work scene. In this paper, the relevance of the real-time 3D visual tracking method and the 3D vision-based control law proposed is demonstrated. The 3D poses of the MEMS are supplied in real-time by a computer-aided design (CAD) model-based tracking algorithm. This latter is sufficiently accurate and robust to enable a precise regulation toward zero of the 3D error using the proposed pose-based visual servoing approach.Experiments on a microrobotic setup have been carried out to achieve assemblies of two or more 400 µm × 400 µm × 100 µm silicon micro-objects by their respective 97 µm × 97 µm × 100 µm notches with an assembly clearance from 1 µm to 5 µm. The different microassembly processes are performed with a mean error of 0.3 µm in position and 0.35×10 −2 rad in orientation.

“…The major work in the automatic microassembly of microsystems have a common point that is the use of sensory feedback control. This feedback control consider vision sensors (via a microscope) [17], [6], force sensors integrated with the gripper, or both [16], [20], [2], [19]. A perfect assembly station would consist on of flexible, versatile, modular, precise and repeatable system.…”

Section: Introductionmentioning

confidence: 99%

Real-time vision-based microassembly of 3D MEMS

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Arnould

Dembélé

et al. 2009

Abstract-Robotic microassembly is a promising way to fabricate micrometric components based three dimensions (3D) compound products where the materials or the technologies are incompatible: structures, devices, Micro Electro Mechanical Systems (MEMS), Micro Opto Electro Mechanical Systems (MOEMS),... To date, solutions proposed in the literature are based on 2D visual control because of the lack of accurate and robust 3D measures from the work scene. In this paper the relevance of the real-time 3D visual tracking and control is demonstrated. The 3D poses of the MEMS is supplied by a model-based tracking algorithm in real-time. It is accurate and robust enough to enable a precise regulation toward zero of a 3D error using a visual servoing approach. The assembly of 400 µm × 400 µm × 100 µm parts by their 100 µm × 100 µm × 100 µm notches with a mechanical play of 3 µm is achieved with a rate of 41 seconds per assembly. The control accuracy reaches 0.3 µm in position and 0.2 • in orientation.