Robotic Micromanipulation and Microassembly Using Monoview and Multiscale Visual Servoing

摘要

This paper investigates sequential robotic micromanipulation and microassembly in order to build 3-D microsystems and devices. A monoview and multiple scale 2-D visual control scheme is implemented for this purpose. The imaging system used is a photon video microscope endowed with an active zoom enabling to work at multiple scales. It is modeled by a nonlinear projective method, where the relation between the focal length and the zoom factor is explicitly established. A distributed robotic system (xy $theta$ system and $phi z$ system) with a two-fingers gripping system is used in conjunction with the imaging system. The results of experiments demonstrate the relevance of the proposed approaches. The tasks were performed with the following accuracy: 1.4 $mu$m for the positioning error and 0.5 $^circ$ for the orientation error.