Visual Servo Feedback Control of a Novel Large Working Range Micro Manipulation System for Microassembly
This paper presents a novel micro manipulation system based on visual servo feedback control, which is composed of a micro/nano positioning stage with large workspace, a micro gripper, and a microscope-based visual servo system. The positioning stage is featured with compliant flexure-based totally...
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| Veröffentlicht in: | Journal of microelectromechanical systems 2014-02, Vol.23 (1), p.181-190 |
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| creator | Xiao, Shunli Li, Yangmin |
| description | This paper presents a novel micro manipulation system based on visual servo feedback control, which is composed of a micro/nano positioning stage with large workspace, a micro gripper, and a microscope-based visual servo system. The positioning stage is featured with compliant flexure-based totally decoupled characteristics, which is driven by electromagnetic actuators. The gripper is designed with its arms moving completely parallel, which has a large displacement of gripping range. In this research, the gripper is mounted onto the micro positioning stage to form a micro-hand dedicated to micro assembly application. A microscope is adopted to observe this tiny view field and capture the information about the position of the gripping fingers and the objects. Meanwhile, a small piece of silver wire with a diameter of about 30 microns is used as the micro part. The positioning information about tips of the gripping fingers and the object can be captured via the digital microscope and processed by a novel rapid identification method. A kind of visual servo feedback tracking and gripping control algorithm is developed. The algorithm is validated through experiments by realizing the task of picking up a small piece of silver wire then placing it to a new place precisely. |
| doi_str_mv | 10.1109/JMEMS.2013.2268849 |
| format | Article |
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The positioning stage is featured with compliant flexure-based totally decoupled characteristics, which is driven by electromagnetic actuators. The gripper is designed with its arms moving completely parallel, which has a large displacement of gripping range. In this research, the gripper is mounted onto the micro positioning stage to form a micro-hand dedicated to micro assembly application. A microscope is adopted to observe this tiny view field and capture the information about the position of the gripping fingers and the objects. Meanwhile, a small piece of silver wire with a diameter of about 30 microns is used as the micro part. The positioning information about tips of the gripping fingers and the object can be captured via the digital microscope and processed by a novel rapid identification method. A kind of visual servo feedback tracking and gripping control algorithm is developed. The algorithm is validated through experiments by realizing the task of picking up a small piece of silver wire then placing it to a new place precisely.</description><identifier>ISSN: 1057-7157</identifier><identifier>EISSN: 1941-0158</identifier><identifier>DOI: 10.1109/JMEMS.2013.2268849</identifier><identifier>CODEN: JMIYET</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Actuators ; Applied sciences ; Control theory ; Drives ; electromagnetic actuator ; Electromagnetics ; Exact sciences and technology ; Feedback control ; Fingers ; flexure hinges ; Force ; Grippers ; Instruments, apparatus, components and techniques common to several branches of physics and astronomy ; Linkage mechanisms, cams ; Mechanical engineering. Machine design ; Mechanical instruments, equipment and techniques ; micro manipulation ; micro-assembly ; Micromechanical devices and systems ; Microscopy ; Physics ; Precision engineering, watch making ; Prototypes ; Servocontrol ; Servomechanisms ; Silver ; Software ; Visual ; Visual servo feedback control ; Visualization</subject><ispartof>Journal of microelectromechanical systems, 2014-02, Vol.23 (1), p.181-190</ispartof><rights>2015 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Feb 2014</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c407t-6f7264dd41c6b66ce081ee8cb72acc65591ad7d76c74438cb4da69213ea655b73</citedby><cites>FETCH-LOGICAL-c407t-6f7264dd41c6b66ce081ee8cb72acc65591ad7d76c74438cb4da69213ea655b73</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6553380$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6553380$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=28238850$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Xiao, Shunli</creatorcontrib><creatorcontrib>Li, Yangmin</creatorcontrib><title>Visual Servo Feedback Control of a Novel Large Working Range Micro Manipulation System for Microassembly</title><title>Journal of microelectromechanical systems</title><addtitle>JMEMS</addtitle><description>This paper presents a novel micro manipulation system based on visual servo feedback control, which is composed of a micro/nano positioning stage with large workspace, a micro gripper, and a microscope-based visual servo system. The positioning stage is featured with compliant flexure-based totally decoupled characteristics, which is driven by electromagnetic actuators. The gripper is designed with its arms moving completely parallel, which has a large displacement of gripping range. In this research, the gripper is mounted onto the micro positioning stage to form a micro-hand dedicated to micro assembly application. A microscope is adopted to observe this tiny view field and capture the information about the position of the gripping fingers and the objects. Meanwhile, a small piece of silver wire with a diameter of about 30 microns is used as the micro part. The positioning information about tips of the gripping fingers and the object can be captured via the digital microscope and processed by a novel rapid identification method. A kind of visual servo feedback tracking and gripping control algorithm is developed. The algorithm is validated through experiments by realizing the task of picking up a small piece of silver wire then placing it to a new place precisely.</description><subject>Actuators</subject><subject>Applied sciences</subject><subject>Control theory</subject><subject>Drives</subject><subject>electromagnetic actuator</subject><subject>Electromagnetics</subject><subject>Exact sciences and technology</subject><subject>Feedback control</subject><subject>Fingers</subject><subject>flexure hinges</subject><subject>Force</subject><subject>Grippers</subject><subject>Instruments, apparatus, components and techniques common to several branches of physics and astronomy</subject><subject>Linkage mechanisms, cams</subject><subject>Mechanical engineering. Machine design</subject><subject>Mechanical instruments, equipment and techniques</subject><subject>micro manipulation</subject><subject>micro-assembly</subject><subject>Micromechanical devices and systems</subject><subject>Microscopy</subject><subject>Physics</subject><subject>Precision engineering, watch making</subject><subject>Prototypes</subject><subject>Servocontrol</subject><subject>Servomechanisms</subject><subject>Silver</subject><subject>Software</subject><subject>Visual</subject><subject>Visual servo feedback control</subject><subject>Visualization</subject><issn>1057-7157</issn><issn>1941-0158</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkEtvEzEQx1cIJErLF4CLJYTEZVO_7T2iqOWhhEoNj6M1650tbjfrYO9WyrfHIVEPnObx_81o5l9VbxhdMEaby6_rq_VmwSkTC861tbJ5Vp2xRrKaMmWfl5wqUxumzMvqVc73lDIprT6rfv8MeYaBbDA9RnKN2LXgH8gyjlOKA4k9AfItPuJAVpDukPyK6SGMd-QWxlKtg0-RrGEMu3mAKcSRbPZ5wi3pYzqqkDNu22F_Ub3oYcj4-hTPqx_XV9-Xn-vVzacvy4-r2ktqplr3hmvZdZJ53WrtkVqGaH1rOHivlWoYdKYz2hspRenLDnTDmUAoYmvEefXhuHeX4p8Z8-S2IXscBhgxztkxbZWx1Apa0Hf_ofdxTmO5zjFFpeZMK14ofqTKMzkn7N0uhS2kvWPUHcx3_8x3B_Pdyfwy9P60GrKHoU8w-pCfJrnlwlp1OOHtkQuI-CSXT4SwVPwF3-ONJQ</recordid><startdate>20140201</startdate><enddate>20140201</enddate><creator>Xiao, Shunli</creator><creator>Li, Yangmin</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>7U5</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope><scope>F28</scope></search><sort><creationdate>20140201</creationdate><title>Visual Servo Feedback Control of a Novel Large Working Range Micro Manipulation System for Microassembly</title><author>Xiao, Shunli ; Li, Yangmin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c407t-6f7264dd41c6b66ce081ee8cb72acc65591ad7d76c74438cb4da69213ea655b73</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2014</creationdate><topic>Actuators</topic><topic>Applied sciences</topic><topic>Control theory</topic><topic>Drives</topic><topic>electromagnetic actuator</topic><topic>Electromagnetics</topic><topic>Exact sciences and technology</topic><topic>Feedback control</topic><topic>Fingers</topic><topic>flexure hinges</topic><topic>Force</topic><topic>Grippers</topic><topic>Instruments, apparatus, components and techniques common to several branches of physics and astronomy</topic><topic>Linkage mechanisms, cams</topic><topic>Mechanical engineering. Machine design</topic><topic>Mechanical instruments, equipment and techniques</topic><topic>micro manipulation</topic><topic>micro-assembly</topic><topic>Micromechanical devices and systems</topic><topic>Microscopy</topic><topic>Physics</topic><topic>Precision engineering, watch making</topic><topic>Prototypes</topic><topic>Servocontrol</topic><topic>Servomechanisms</topic><topic>Silver</topic><topic>Software</topic><topic>Visual</topic><topic>Visual servo feedback control</topic><topic>Visualization</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Xiao, Shunli</creatorcontrib><creatorcontrib>Li, Yangmin</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>Journal of microelectromechanical systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Xiao, Shunli</au><au>Li, Yangmin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Visual Servo Feedback Control of a Novel Large Working Range Micro Manipulation System for Microassembly</atitle><jtitle>Journal of microelectromechanical systems</jtitle><stitle>JMEMS</stitle><date>2014-02-01</date><risdate>2014</risdate><volume>23</volume><issue>1</issue><spage>181</spage><epage>190</epage><pages>181-190</pages><issn>1057-7157</issn><eissn>1941-0158</eissn><coden>JMIYET</coden><abstract>This paper presents a novel micro manipulation system based on visual servo feedback control, which is composed of a micro/nano positioning stage with large workspace, a micro gripper, and a microscope-based visual servo system. The positioning stage is featured with compliant flexure-based totally decoupled characteristics, which is driven by electromagnetic actuators. The gripper is designed with its arms moving completely parallel, which has a large displacement of gripping range. In this research, the gripper is mounted onto the micro positioning stage to form a micro-hand dedicated to micro assembly application. A microscope is adopted to observe this tiny view field and capture the information about the position of the gripping fingers and the objects. Meanwhile, a small piece of silver wire with a diameter of about 30 microns is used as the micro part. The positioning information about tips of the gripping fingers and the object can be captured via the digital microscope and processed by a novel rapid identification method. A kind of visual servo feedback tracking and gripping control algorithm is developed. The algorithm is validated through experiments by realizing the task of picking up a small piece of silver wire then placing it to a new place precisely.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/JMEMS.2013.2268849</doi><tpages>10</tpages></addata></record> |
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| subjects | Actuators Applied sciences Control theory Drives electromagnetic actuator Electromagnetics Exact sciences and technology Feedback control Fingers flexure hinges Force Grippers Instruments, apparatus, components and techniques common to several branches of physics and astronomy Linkage mechanisms, cams Mechanical engineering. Machine design Mechanical instruments, equipment and techniques micro manipulation micro-assembly Micromechanical devices and systems Microscopy Physics Precision engineering, watch making Prototypes Servocontrol Servomechanisms Silver Software Visual Visual servo feedback control Visualization |
| title | Visual Servo Feedback Control of a Novel Large Working Range Micro Manipulation System for Microassembly |
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