Romansy 13 pp 391-400 | Cite as

Cooperative Micro Object Handling by Dual Micromanipulators under Vision Control

  • Antoine Ferreira
  • Shigeoki Hirai
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


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.


Force Control Force Sensor Optical Interferometer Handling Operation Force Control System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Ahlberg, J-H., Nielson, E-N. and Walsh, J-L. (1967). The theory of Spliens and their applications. New York: Academic.Google Scholar
  2. Arai, F., Andou, D., Nonoda, Y., Fukuda, T., Iwata, H. and Itoigawa, K. (1996). Micro endeffector with micro pyramids and integrated piezoresistive force sensor. Proceedings on IEEE Int. Conf on Intelligent Robotics and Systems, 842–849.Google Scholar
  3. Codourey, A. et al. (1995). A robot system for automated handling in micro-world. Proceedings IEEE of the International Conference on Intelligent robots and Systems, 170–175.Google Scholar
  4. Fatikow, S. and Rembold, U. (1996). An automated microrobot based desktop station for micro assembly and handling of microobjects. Proceedings IEEE conference on Emerging Technologies and Factory Automation.Google Scholar
  5. Ferreira, A. and Hirai, S. (1998). Development of desk-top micro hand-eye system for automated watch device assembling process. /2 1h CISM Symposium. on RoManSy 98.Google Scholar
  6. Kasaya, T., Miyazaki, H., Saito, S. and Sato, T. (1999). Micro object handling under SEM by vision-based automatic control. Proceedings of IEEE Conference on Robotics and Automation, 2189–2196.Google Scholar
  7. Kurisu, M. and Yoshikawa, T. (1996). Tracking control for an object in pushing operation. Proceedings IEEE of the International Conference on Intelligent robots and Systems, 729–735.Google Scholar

Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Antoine Ferreira
    • 1
  • Shigeoki Hirai
    • 2
  1. 1.Laboratoire de Vision et RobotiqueEcole Normale Supérieure d’Ingénieurs de BourgesFrance
  2. 2.Micro-Robotics Lab.Electrotechnical LaboratoryTsukubaJapan

Personalised recommendations