Affiliation:
1. Research Center of Laser Fusion, China Academy of Engineering Physics, Mianyang, P. R. China
Abstract
Micro-particle is hard to be observed as small scale and hard to be gripped as micro-force from substrate, an automatic approach and grip method of micro-particle in the guide of microscopic vision systems is proposed in the paper to grip micro-particle. First, the micro-gripper driven by electrostatic force is introduced and forces in gripping process are analyzed. Second, a micro-assembly robot composed of two microscopic vision systems is established to monitor micro-operation process and to operate micro-particle. Image features of micro-particle and micro-gripper end-effector are extracted by image feature extraction method to calculate relative position of micro-particle and micro-gripper in image space. Last, a movement control strategy in 3D space based on image Jacobian matrix is studied to control micro-gripper approach and align with micro-particle. Experimental results verified the effectiveness of proposed methods.
Publisher
World Scientific Pub Co Pte Lt
Subject
Condensed Matter Physics,Statistical and Nonlinear Physics
Cited by
1 articles.
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