使用6自由度微夹持器自动灵活处理微组件

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554265

P. Korhonen, Quan Zhou, J. Laitinen, S. Sjövall

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引用次数: 6

摘要

介绍了一种采用新型六自由度微夹持器的光电元件自动灵巧搬运检测系统。控制系统包括三个层次:执行器控制层、运动规划层和任务层。视觉伺服在自动操作中的应用。系统的性能在基于机器视觉的300 /spl次/ 300 /spl次/ 100 /spl μ m光电元件的自动检测任务中得到了验证。

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Automatic dextrous handling of micro components using a 6 DOF microgripper

This paper presents an automatic dextrous handling and inspection system for optoelectronics components using a novel 6 DOF microgripper. The control system includes three hierarchical layers: actuator control layer, motion planning layer, and mission layer. Visual servoing is applied in automatic manipulation. The performance of the system is demonstrated in a machine vision based automatic inspection task for 300 /spl times/ 300 /spl times/ 100 /spl mu/m optoelectronics components.

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来源期刊

2005 International Symposium on Computational Intelligence in Robotics and Automation

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