Vision Control System for Automated Microassembly
IR@CEERI: CSIR-Central Electronics Engineering Research Institute, Pilani
View Archive Info| Field | Value | |
| Title |
Vision Control System for Automated Microassembly
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| Creator |
Tripathi, S
Jain, DR Sharma, HD |
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| Subject |
Instrumentation Systems
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| Description |
Abstract—I n this paper, authors present the development of a completely automated system to perform 3D micromanipulation and microassembly tasks. The microassembly workstation consists of a 3 degree-of-freedom (DOF) MM3A% micromanipulator arm attached to a microgripper, two 2 DOF Pl% linear micromotion stages, one optical microscope coupled with a CCD image sensor, and two CMOS cameras for coarse vision. The whole control strategy is subdivided into various vision based routines: manipulator detection and coarse alignment, autofocus and fine alignment of microgripper, target object detection, and performing the required assembly tasks. A section comparing various objective functions useful in the autofocussing regime is included. The control system is built entirely in the image frame, eliminating the need for system calibration, hence improving speed of operation. A micromanipulation experiment performing pickand-place of a micromesh is illustrated. This demonstrates a three-fold reduction in setup and run time for fundamental micromanipulation tasks, as compared to manual operation. Accuracy, repeatability and reliability of the programmed system is analyzed.
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| Date |
2019-12-03
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| Type |
Conference or Workshop Item
PeerReviewed |
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| Format |
application/pdf
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| Identifier |
http://ceeri.csircentral.net/353/1/43-2017.pdf
Tripathi, S and Jain, DR and Sharma, HD (2019) Vision Control System for Automated Microassembly. In: Nanotechnology for Instrumentation and Measurement(NANOFIM), 2017, November 16-17, 2017, Greater Noida. (Submitted) |
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| Relation |
http://ceeri.csircentral.net/353/
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