Dynamic tracking of moving objects in microassembly through visual servoing

H. Chu, J. Mills, W. Cleghorn
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引用次数: 8

Abstract

Precise micropart alignment is a crucial factor in most gripper-based microassembly processes. For the micropart to be grasped or manipulated, these processes require the micropart to be positioned and oriented properly for the microgripper. At present, many of the these processes still rely on operators to monitor and align the micropart manually through visual images provided by the camera on top of the assembly line. However, due to the limited field of view of the microassembly system microscope, the micropart may move outside of the visual monitoring area at some point during the manipulation process. The present work proposes an integrated microassembly algorithm that performs the assembly process regardless of the micropart initial orientation. The algorithm automatically aligns and tracks the micropart during the manipulation process. As the micropart rotates to the required grasping orientation, the algorithm projects the future motion of the micropart, repositions it, and simultaneously, using a PID control algorithm, maintains the micropart within the field of view of the microscope. The proposed algorithm eliminates the need for a manual alignment process, which is time consuming and is subject to error. The algorithm was implemented and evaluated on an in-house 6 DOF microassembly manipulator. Experimental results confirmed that the proposed algorithm successfully tracked and corrected a 45-degree misaligned micropart at a specified location within the camera field of view with a steady-state error of +/−15 pixels.
基于视觉伺服的微装配运动目标动态跟踪
在大多数基于夹持器的微装配过程中,精确的微部件对准是一个至关重要的因素。为了抓住或操纵微部件,这些过程要求微部件为微夹持器正确定位和定向。目前,许多这些过程仍然依赖于操作员通过装配线顶部的摄像头提供的视觉图像来手动监控和对齐微型部件。然而,由于微装配系统显微镜的视野有限,在操作过程中,微部件可能会在某些点移动到视觉监控区域之外。本工作提出了一种集成的微装配算法,无论微部件的初始方向如何,都可以执行装配过程。该算法在操作过程中自动对准和跟踪微部件。当微部件旋转到所需的抓取方向时,该算法预测微部件的未来运动,重新定位,同时使用PID控制算法将微部件保持在显微镜的视野内。该算法消除了人工对齐过程的需要,该过程耗时且容易出错。该算法在一个内部六自由度微装配机械臂上进行了实现和评估。实验结果证实,该算法成功地跟踪并纠正了相机视场内指定位置的45度错位微部件,稳态误差为+/−15像素。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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