Hybrid control of vision and force for MEMS assembly system

被引：0
|
作者：
Chen, LG [1 ]
Sun, LN [1 ]
Rong, WB [1 ]
Bian, XQ [1 ]
机构：
[1] Harbin Inst Technol, Robot Res Inst, Harbin 150001, Peoples R China
来源：
IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS | 2004年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper we present a MEMS assembly system under hybrid control of vision and force feedback. The construction of micro-vision system is introduced in detail and a new micro-force sensor was developed The strategies of integrating force and vision feedback have been investigated experimentally and impact experimental results are presented A task of pin in hole of phi 0.1mm was completed. Using force feedback alone, two or more times of searching steps are needed. While based on the hybrid control of micro-vision and micro-force feedback, one searching step is enough.
引用
收藏
页码：136 / 141
页数：6
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