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
2015-08-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
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
DOI10.1109/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:10[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
专题复杂系统管理与控制国家重点实验室_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
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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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