NDLI: Vision-Based 2-D Automatic Micrograsping Using Coarse-to-Fine Grasping Strategy

Content Provider	IEEE Xplore Digital Library
Author	Lu Ren Lidai Wang Mills, J.K. Dong Sun
Copyright Year	1982
Abstract	In this paper, we propose a visual-servo-control approach and a two-stage grasping strategy and, then, develop control software to perform micrograsping tasks, i.e., to control a passive microgripper to automatically grasp a micropart, in a 2-D plane with high accuracy. In the proposed control scheme, we employ closed-loop control with the use of two position feedback signals: relative positions of the micropart with respect to the microgripper measured by the vision-control system and absolute displacements of the micropart measured by linear encoders. To improve the grasping efficiency and success rate, a two-stage grasping strategy is employed: (1) the bonded microgripper is controlled to directly reach a specific position adjacent to the mating edge of a designated micropart with the same y coordinate, by matching the patterns of the microgripper and the micropart only once, and (2) finely align the micropart with the microgripper along the x and y translation axes of the microassembly robot in the horizontal plane by employing the proposed visual servo control, until the micropart is completely grasped. Experiments conducted with a 6-DOF microassembly robot demonstrate the efficiency and validity of the proposed control approach and grasping strategy.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	3324
Ending Page	3331
Page Count	8
File Size	785364
File Format	PDF
ISSN	02780046
Volume Number	55
Issue Number	9
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Automatic control Linear feedback control systems Displacement control Control systems Displacement measurement Position measurement Microassembly Robot kinematics Software performance 2-D visual servo control Visual Servo Control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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