DocumentCode
2237147
Title
A novel visual servoing microassembly system
Author
Xinhan Huang ; Shangqin Mao ; Min Wang
Author_Institution
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
fYear
2012
fDate
Oct. 30 2012-Nov. 1 2012
Firstpage
966
Lastpage
970
Abstract
The focus of this paper is the design and development of an automatic system for microassembly. The automatic processing is made possible by (i) the development of a machine vision algorithm to identify the targets and end-effectors, (ii) an uncalibrated visual servoing algorithm to lead the end-effector to grasp the micro-pieces and then assemble the target. The experimental results demonstrate that this prototype microassembly system is effective and practicable for automatic microassembly applications.
Keywords
end effectors; industrial manipulators; microassembling; micromanipulators; robot vision; visual servoing; automatic microassembly applications; automatic processing; end effectors; machine vision algorithm; microassembly; micropiece grasping; uncalibrated visual servoing algorithm; visual servoing microassembly system; Jacobian matrices; Joints; Robot kinematics; Target recognition; Visual servoing; microassembly; target recognition; visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Cloud Computing and Intelligent Systems (CCIS), 2012 IEEE 2nd International Conference on
Conference_Location
Hangzhou
Print_ISBN
978-1-4673-1855-6
Type
conf
DOI
10.1109/CCIS.2012.6664320
Filename
6664320
Link To Document