Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Automation of a Teleoperated Microassembly Desktop Station Supervised by Virtual Reality

  • Published : 2002.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

We proposed a concept of a desktop micro device factory for visually servoed teleoperated microassembly assisted by a virtual reality (VR) interface. It is composed of two micromanipulators equipped with micro tools operating under a light microscope. First a manipulator, control method for the micro object to follow a planned trajectory in pushing operation is proposed undo. vision based-position control. Then, we present the cooperation control strategy of the micro handling operation under vision-based force control integrating a sensor fusion framework approach. A guiding-system based on virtual micro-world exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated micro world. Finally, some experimental results of microassembly tasks performed on millimeter-sized components are provided.

Keywords

References

  1. Proc. of International Conf. on Advanced Robotics A task-oriented teleoperation system for assembly in the micro-world A. Codourey;M. Rodriguez;I. Pappas
  2. SPIE Conf. on Microrobots and Micromechanical Systems Microvision system (MVS): a 3D computer graphic-based microrobot telemanipulation and position feedback by vision A. Sulzmann;J-M. Breguet;J. Jacot
  3. Journal of Intelligent Manufacturing v.9 Assembly planning and plan decomposition in an automated microrobot-based microassembly desktop station S. Fatikow;R. Munassypov;U. Rembold https://doi.org/10.1023/A:1008851409235
  4. IEEE Int. Conf. On Robotics and Automation Approach to distributed micro robotic system-development of micro line trace robot and autonomous micro robotic system H. Ishihara;T. Fukuda;K. Kosuge;F. Arai;K. Hamagishi
  5. IEEE Int. Conf. On Robotics and Automation Desktop flexible manufacturing system by movable miniature robots - miniature robots with micro tool and sensor H. Aoyama;F. Iwata;A. Sasaki
  6. 13th IFTOmm Symposium on ROMANSY Cooperative micro object handling by dual micromanipulators under vision control A. Ferreira;S. Hirai
  7. Journal of Advanced Robotics v.12 no.2 Design and control of a mobile micromanipulator driven by ultrasonic motors with multidegrees of freedom A.Ferreira
  8. J. of Micromechatronics v.1 no.1 Design of a flexible conveyer microrobot with electromagnetic field-based friction drive control for microfactory stations A. Ferreira https://doi.org/10.1163/156856300744669
  9. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics Coarse/Fine motion control of a teleoperated autonomous piezoelectric nanopositioner operating under a microscope A. Ferreira;J-G. Fontaine
  10. IEEE Int. Conf. On Robotics and Automation Combination of vision techniques and VR-based simulation for semi-autonomous microassembly workstation C.Cassier;A. Ferreira;S. Hirai
  11. SPIE Conf. on Microrobotics and Micromanipulation Alignment of microparts uisng force controlled pushing W.Zesch;R.S. Fearing
  12. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems Automating microassembly with ortho-tweezers and force sensing J.A. Thompson;R.S. Fearing
  13. Proc. IEEE IROS Tracking control for an object in pushing operation M. Kurisu;T. Yoshikawa
  14. XVI IMEKO World Congress New vision-based flexible force sensor for micro-teleoperation systems A. Ferreira;J-G. Fontaine
  15. IEEE Int. Conf. On Robotics & Automation Fusing force and vision feedback for micromanipulation Y. Zhou;B-J. Nelson;B. Vikramaditya