Vision Control System for Automated Microassembly

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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Abstract

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.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	Keywords—M icromanipulation, Microassembly, Automation, 3D, Visual Servoing
Subjects:	Electronic Systems > Instrumentation Systems
Divisions:	Electronic Systems
Depositing User:	Mr. Rabin Chatterjee
Date Deposited:	04 Dec 2019 09:17
Last Modified:	04 Dec 2019 09:17
URI:	http://ceeri.csircentral.net/id/eprint/353

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