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Micromanipulation Using a Microassembly Workstation with Vision and Force Sensing

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Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues (ICIC 2008)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 5226))

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Abstract

This paper reports our ongoing work on a microassembly workstation developed for efficient and robust 3D automated assembly of microobjects. The workstation consists of multiple view imaging system, two 3-DOF high precision micromanipulators, and a 3-DOF positioning stage with high resolution rotation control, force sensing probe and gripper, and the control software system. A hybrid control scheme using both vision and force sensory information is proposed for precise and dexterous manipulation of microobjects. A micromanipulation experiment that aims to locate the microspheres to the predefined configuration by using an integrated vision and force control scheme is successfully demonstrated to show the validity of the proposed methods.

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Author information

Authors and Affiliations

  1. Faculty of Engineering and Natural Sciences, Sabanci University, 34956, Istanbul, Turkey

    Hakan Bilen & Mustafa Unel

Authors
  1. Hakan Bilen
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  2. Mustafa Unel
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Editor information

Editors and Affiliations

  1. Department of Automation, University of Science and Technology of China, 230026, Hefei, Anhui, China

    De-Shuang Huang

  2. Applied Computational Intelligence Laboratory, P.O. Box

    Donald C. Wunsch II

  3. Arlington, USA

    Daniel S. Levine

  4. Graduate School of Electrical Engineering, University of Ulsan, Korea, San 29, Mugeo-Dong, 680 - 749, Nam-Ku, Ulsan, Korea

    Kang-Hyun Jo

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© 2008 Springer-Verlag Berlin Heidelberg

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Bilen, H., Unel, M. (2008). Micromanipulation Using a Microassembly Workstation with Vision and Force Sensing. In: Huang, DS., Wunsch, D.C., Levine, D.S., Jo, KH. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues. ICIC 2008. Lecture Notes in Computer Science, vol 5226. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-87442-3_144

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  • DOI: https://doi.org/10.1007/978-3-540-87442-3_144

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-87440-9

  • Online ISBN: 978-3-540-87442-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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