NDLI: Robotic Micromanipulation and Microassembly Using Monoview and Multiscale Visual Servoing

Content Provider	IEEE Xplore Digital Library
Author	Tamadazte, B. Piat, N.L.-F. Dembélé, S.
Copyright Year	1996
Abstract	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.
Starting Page	277
Ending Page	287
Page Count	11
File Size	935977
File Format	PDF
ISSN	10834435
Volume Number	16
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Microassembly Visual servoing Automatic control Microscopy Robotic assembly Robotics and automation Cameras Ultrafast optics High-resolution imaging multiple scale visual servoing Depth-from-focus microassembly micromanipulation microrobotic
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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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
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