High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control

doi:10.1109/TMECH.2014.2354261

	High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control
	Shen, Fei1,2 ; Wu, Wenrong 1,3; Yu, Dahai 1,3; Xu, De2 ; Cao, Zhiqiang4
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2015-08-01
卷号	20 期号:4 页码:1777-1789
文章类型	Article
摘要	In this paper, a fully automated microassembly methodology is proposed to assemble a slice micropart into a groupware in three-dimensional (3-D) space with the requirement of attitude adjustment. To accurately acquire the attitude of the slice micropart, we proposed an automated measurement method based on a laser triangulation measurement instrument (LTMI) guided by microscopic vision as well as an accurate calibration method for the telecentric vision system based on nonlinear damping least square method. To achieve automatic assembly, a three-stage microassembly strategy is presented: 1) attitude adjustment of the groupware based on multimicroscopic vision regarding the slice micropart's attitude as the target; 2) coarse-to-fine alignment of the slice micropart to the groupware in 3-D space on the basis of LTMI and microscopic vision; 3) remove microgripper of slice micropart until it is completely glued. Fully automated microassembly experiments are conducted, and the results demonstrate the reasonability of proposed approaches. The task has been performed with the following accuracy: 3 mu m for the center position error, 2 mu m for the depth error and 0.3 degrees for the attitude error.
关键词	Attitude Measurement Microassembly Multi-microscopic Vision Control Telecentric Lens Calibration Three-dimensional (3-d) Alignment
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TMECH.2014.2354261
关键词[WOS]	MICROMANIPULATION ; ACCURACY ; CAMERA
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000359252300030
引用统计	被引频次：29[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/8913
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.China Acad Engn Phys, Laser Fus Res Ctr, Mianyang 621900, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 3.China Acad Engn Phys, Lab Precis Mfg Technol, Mianyang 621900, Peoples R China 4.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
第一作者单位	精密感知与控制研究中心
推荐引用方式 GB/T 7714	Shen, Fei,Wu, Wenrong,Yu, Dahai,et al. High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2015,20(4):1777-1789.
APA	Shen, Fei,Wu, Wenrong,Yu, Dahai,Xu, De,&Cao, Zhiqiang.(2015).High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control.IEEE-ASME TRANSACTIONS ON MECHATRONICS,20(4),1777-1789.
MLA	Shen, Fei,et al."High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control".IEEE-ASME TRANSACTIONS ON MECHATRONICS 20.4(2015):1777-1789.

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