Abstract
In this chapter, a microassembly system based on 3-channle microvision system is proposed which achieves the automatic alignment of the mm sized complex micro parts. The design of the system is described firstly. Then two different alignment strategies are presented including position based and image Jacobian based methods.Also, a coarse-to-fine alignment strategy in combinationwith active zooming algorithm is proposed. In the coarse alignment stage, alignment process is conducted with maximum field of view (FOV). In the fine alignment stage, the microscope is of maximum magnification to ensure the highest assembly accuracy. For the image based control, the image jacobian based on several microscope vision systems controlling the micro part movement is derivation based on microscope vision model. It is proved that the image jacobian is a constant when controlling position movement. As active movement of the micro part, the image jacobian is online selfcalibration. The PD controller is adopted to control the micro partmovement quickly and effectively. The experiment verifies the effectiveness of the proposed algorithms.
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Zhang, Z., Xu, D., Zhang, J. (2015). 3D Space Automated Aligning Task Performed by a Microassembly System Based on Multi-channel Microscope Vision Systems. In: Sun, Y., Behal, A., Chung, CK. (eds) New Development in Robot Vision. Cognitive Systems Monographs, vol 23. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43859-6_9
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DOI: https://doi.org/10.1007/978-3-662-43859-6_9
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