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Automation of a Teleoperated Microassembly Desktop Station Supervised by Virtual Reality  

Antoine Ferreira (Laboratoire de Vision et Robotique(LVR))
Fontaine, Jean-Guy (Laboratoire de Vision et Robotique(LVR))
Shigeoki Hirai (Inteligent System Institute, AIST)
Publication Information
Transactions on Control, Automation and Systems Engineering / v.4, no.1, 2002 , pp. 23-31 More about this Journal
Abstract
We proposed a concept of a desktop micro device factory for visually servoed teleoperated microassembly assisted by a virtual reality (VR) interface. It is composed of two micromanipulators equipped with micro tools operating under a light microscope. First a manipulator, control method for the micro object to follow a planned trajectory in pushing operation is proposed undo. vision based-position control. Then, we present the cooperation control strategy of the micro handling operation under vision-based force control integrating a sensor fusion framework approach. A guiding-system based on virtual micro-world exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated micro world. Finally, some experimental results of microassembly tasks performed on millimeter-sized components are provided.
Keywords
microrobotics; visual force/position feedback; virtual reality; microassembly.;
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