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
fDate :
Oct. 30 2012-Nov. 1 2012
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;
Conference_Titel :
Cloud Computing and Intelligent Systems (CCIS), 2012 IEEE 2nd International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-1855-6
DOI :
10.1109/CCIS.2012.6664320
