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High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control
Shen, Fei1,2; Wu, Wenrong1,3; Yu, Dahai1,3; Xu, De2; Cao, Zhiqiang4
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2015-08-01
Volume20Issue:4Pages:1777-1789
SubtypeArticle
AbstractIn 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.
KeywordAttitude Measurement Microassembly Multi-microscopic Vision Control Telecentric Lens Calibration Three-dimensional (3-d) Alignment
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2014.2354261
WOS KeywordMICROMANIPULATION ; ACCURACY ; CAMERA
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000359252300030
Citation statistics
Cited Times:11[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8913
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
Recommended Citation
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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