UM
Visual servo feedback control of a novel large working range micro manipulation system for microassembly
Xiao S.; Li Y.
2014
Source PublicationJournal of Microelectromechanical Systems
ISSN10577157
Volume23Issue:1Pages:181
AbstractThis paper presents a novel micro manipulation system based on visual servo feedback control, which is composed of a micro/nano positioning stage with large workspace, a micro gripper, and a microscope-based visual servo system. The positioning stage is featured with compliant flexure-based totally decoupled characteristics, which is driven by electromagnetic actuators. The gripper is designed with its arms moving completely parallel, which has a large displacement of gripping range. In this research, the gripper is mounted onto the micro positioning stage to form a micro-hand dedicated to micro assembly application. A microscope is adopted to observe this tiny view field and capture the information about the position of the gripping fingers and the objects. Meanwhile, a small piece of silver wire with a diameter of about 30 microns is used as the micro part. The positioning information about tips of the gripping fingers and the object can be captured via the digital microscope and processed by a novel rapid identification method. A kind of visual servo feedback tracking and gripping control algorithm is developed. The algorithm is validated through experiments by realizing the task of picking up a small piece of silver wire then placing it to a new place precisely. © 2013 IEEE.
KeywordElectromagnetic actuator Flexure hinges Micro manipulation Micro-assembly Visual servo feedback control
DOI10.1109/JMEMS.2013.2268849
URLView the original
Language英语
The Source to ArticleScopus
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Cited Times [WOS]:36   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
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GB/T 7714
Xiao S.,Li Y.. Visual servo feedback control of a novel large working range micro manipulation system for microassembly[J]. Journal of Microelectromechanical Systems,2014,23(1):181.
APA Xiao S.,&Li Y..(2014).Visual servo feedback control of a novel large working range micro manipulation system for microassembly.Journal of Microelectromechanical Systems,23(1),181.
MLA Xiao S.,et al."Visual servo feedback control of a novel large working range micro manipulation system for microassembly".Journal of Microelectromechanical Systems 23.1(2014):181.
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