NDLI: Global visual servoing of miniature mobile robot inside a micro-assembly station

Content Provider	IEEE Xplore Digital Library
Author	Yu Song Mantian Li Lining Sun Junhong Ji
Copyright Year	2005
Description	Author affiliation: Robotics Inst., Harbin Inst. of Technol., China (Yu Song; Mantian Li; Lining Sun; Junhong Ji)
Abstract	This paper focuses on designing the 2D global visual servoing system of the miniature mobile robot. The global vision sensor supervises the robot's workspace to detect the position and orientation of the robot, and then navigates the robot's end-effector into view field of the microscope to accomplish MEMS (micro electric mechanical system) parts assembly. To meet requirements of real-time control and high precision tracking, three LEDs forming a non-isosceles-rightangled triangle are mounted on the top of the robot platform. Visual servoing is realized with dynamic look and move mode, and the controller is designed in the image space. With the global visual navigation, the robot can be controlled with accuracy about 0.5-1 mm. But due to the lack of interior sensor for the manipulator, when the macro motion is completed, the end-effector is not guaranteed inside view field of microscope. The strategy for end-effector searching, which based on motion inspection, is designed to solve the problem. Experiment shows that the end-effector can be located in the view of microscope successfully. It is the essential precondition for our robot accomplishing micro operation task.
Starting Page	1586
Ending Page	1591
File Size	851692
Page Count	6
File Format	PDF
ISBN	078039044X
DOI	10.1109/ICMA.2005.1626792
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Mobile robots Robot sensing systems Robotic assembly Robot vision systems Microscopy Navigation Orbital robotics Mechanical sensors Sensor systems
Content Type	Text
Resource Type	Article

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