Abstract
In this paper, a flexible microassembly system based on hybrid manipulation scheme is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.
Original language | English (US) |
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Pages | 2061-2066 |
Number of pages | 6 |
State | Published - 2003 |
Externally published | Yes |
Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: Oct 27 2003 → Oct 31 2003 |
Other
Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Country/Territory | United States |
City | Las Vegas, NV |
Period | 10/27/03 → 10/31/03 |
Keywords
- Fine alignment
- Force feedback
- Hybrid manipulation
- Microassembly
- Vision
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications