Compact Stereoscopic 3D-Sensor for Micro-Robot Control

摘要

The process of micro assembly requires high precision for the positioning of tiny parts. To overcome the limitations of manual assembly there is a need for automated micro-robots. Using special mechanical structures and state of the art control systems a positioning accuracy of the order of I micrometer can be obtained. A further improvement is possible by the implementation of a closed loop control with high resolution sensors. The relative position between the gripper of the robot and the work piece is measured and the deviation vector is calculated. A correction vector is fed into the robot control to guide the gripper. In this paper we present a compact stereoscopic optical 3D-sensor that is designed to be integrated into an existing micro-robot. The working principle and construction details are discussed and measurement results of a prototype version are presented.