NDLI: 2-D Automatic Micrograsping Tasks Performed by Visual Servo Control

Content Provider	IEEE Xplore Digital Library
Author	Lu Ren Lidai Wang Mills, J.K. Dong Sun
Copyright Year	2007
Description	Author affiliation: Univ. of Toronto, Toronto (Lu Ren; Lidai Wang; Mills, J.K.)
Abstract	In this paper, we propose a visual servo control approach and develop the corresponding software to perform micrograsping tasks in a two-dimension plane (2-D). Specifically, using a 6 degree-of-freedom (DOF) robotic manipulator to manipulate a micro-gripper and automatically grasp a micro-part. In the proposed control scheme, two types of position feedback signals are utilized. One is the relative positions of the micro-part with respect to the micro-gripper measured by the developed computer vision system, which is used for visual servo control. The other is the absolute displacements of the micro-part measured by the fixed linear encoders, which is used to check the corresponding motions. The whole control software is developed by LabVIEW, to improve operation speed. Furthermore, a two-stage grasping strategy is employed: in the first stage, pattern-matching is performed once and the bonded micro-gripper is controlled, to directly reach a specific position adjacent to the mating edge of a designated micro-part with the same y coordinate; in the second stage, pattern-matching is performed at each control update interval while the micro-gripper is displaced towards the micro-part with steps on the order of one micron magnitude, until the micro-part is completely grasped. Experiments conducted on a 6-DOF experimental manipulator demonstrate the efficiency and validity of the proposed control approach and grasping strategy.
Starting Page	2119
Ending Page	2124
File Size	5513216
Page Count	6
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4374935
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Servosystems Displacement control Software performance Two dimensional displays Robot kinematics Robotics and automation Manipulators Automatic control Feedback Position measurement 2-D Microassembly Visual Servo Control
Content Type	Text
Resource Type	Article

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