Abstract
We proposed a newly Automated Micro Assembling System (AMAS) concept for a desktop micro device factory composed of two micromanipulators equipped with micro tools operating under a light microscope. First, we consider the transportation of micro objects by controlling the manipulator push of an micro object on a flat surface with point contact to a desired position. A manipulator control method for the micro object to follow a planned trajectory in pushing operation is proposed under vision based-position control. Then, we present the cooperation control strategy of the micro handling operation under vision-based force control. Finally, different simulation and experimental results show the effectiveness of the proposed controllers.
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© 2000 Springer-Verlag Wien
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Ferreira, A., Hirai, S. (2000). Cooperative Micro Object Handling by Dual Micromanipulators under Vision Control. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_42
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_42
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
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