Automated Microassembly Task Execution Using Vision-Based Feedback Control

In this paper, we introduce a vision based feedback control system used in the automation of microassembly of MEMS devices. The proposed system permits the automatic grasping of microparts using a passive compliant microgripper, the first step towards achieving complete automation of the microassembly process. Vision- based relative position and microassembly force feedbacks are fused and supplied to a fuzzy logic controller that corrects the alignment of the microgripper and micropart and guides the system towards achieving a successful grasp. The performance of the system is investigated experimentally, and the experimental results are presented.