Robotic Micromanipulation and Microassembly using Mono-view and Multi-scale visual servoing. - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2011

Robotic Micromanipulation and Microassembly using Mono-view and Multi-scale visual servoing.

Résumé

This paper investigates sequential robotic micromanipulation and microassembly in order to build 3-D microsystems and devices. A mono-view and multiple scale 2-D visual control scheme is implemented for that purpose. The imaging system used is a photon video microscope endowed with an active zoom enabling to work at multiple scales. It is modelled by a non-linear projective method where the relation between the focal length and the zoom factor is explicitly established. A distributed robotic system (xy system, z system) with a twofingers gripping system is used in conjunction with the imaging system. The results of experiments demonstrate the relevance of the proposed approaches. The tasks were performed with the following accuracy: 1.4 m for the positioning error, and 0.5 for the orientation error.
Fichier principal
Vignette du fichier
Tmech_1_Tamadazte_2011.pdf (1.1 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00672139 , version 1 (20-02-2012)

Identifiants

Citer

Brahim Tamadazte, Nadine Le Fort-Piat, Soukalo Dembélé. Robotic Micromanipulation and Microassembly using Mono-view and Multi-scale visual servoing.. IEEE/ASME Transactions on Mechatronics, 2011, 16 (2), pp.277-287. ⟨10.1109/TMECH.2010.2040900⟩. ⟨hal-00672139⟩
84 Consultations
604 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More