Sunday May 17, 2009 WorkShop sw-f1: Control Issues in the Micro/Nano-World

- John Wason and John Wen

Center for Automation Technologies and Systems (CATS)
Rensselaer Polytechnic Institute,
CII 8015, 110 8th St.,
Troy, NY 12180-3590

Contact: wasonj 'at' rpi 'dot' edu


Robust Vision-Guided Multi-probe Microassembly


We will present the control algorithm development and experimental results for spatial microassembly using multiple sharp probes instead of using grippers to manipulate parts. The experimental testbed consists of two actuated probes, an actuated die stage, and vision feedback. The kinematic relationships for the probes, die stage, and part manipulation are calibrated for kinematics-based planning and control. The effect of adhesion forces on probe-part and part-stage contacts is investigated in order to achieve grasp stability and robust part manipulation. Vision routines are developed to allow features to be located in three dimensional space through stereo vision. By combining pre-planned manipulation sequences and vision-based manipulation, repeatable spatial (in contrast to planar) manipulation and insertion of a sub-millimeter part has been demonstrated.

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Single probe grasping.


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