|Automation of a Teleoperated Microassembly Desktop Station Supervised by Virtual Reality
Antoine Ferreira/ Jean-Guy Fontaine/Shigeoki Hirai
Transaction on Control Automation, and Systems Engineering, vol. 4, no. 1, pp.23-31, 2002
Abstract : We proposed a concept of a desktop micro device factory for visually servoed teleoperated microassembly assisted by a virtual reality (VR) interface. It is composed of two micromanipulators equipped with micro tools operating under a light microscope. based-position control. Then, we present the cooperation control strategy of the micro handling operation under vision-based force control integrating a sensor fusion framework approach. A guiding-system based on virtual micro-world exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated micro world. Finally,some experimental results of microassembly tasks performed on millimeter-sized components a re provided.
Keyword : microrobotics, visual force/position feedback, virtual reality, microassembly.