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Title: CAD-driven microassembly and visual servoing

This paper describes current research and development on a robotic visual servoing system for assembly of LIGA (Lithography Galvonoforming Abforming) parts. The workcell consists of an AMTI robot, precision stage, long working distance microscope, and LIGA fabricated tweezers for picking up the parts. Fourier optics methods are used to generate synthetic microscope images from CAD drawings. These synthetic images are used off-line to test image processing routines under varying magnifications and depths of field, They also provide reference image features which are used to visually servo the part to the desired position.
Authors:
;
Publication Date:
OSTI Identifier:
650243
Report Number(s):
SAND--98-0621C; CONF-980537--
ON: DE98002812; BR: YN0100000; TRN: AHC2DT04%%156
DOE Contract Number:
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: 1998 IEEE international conference on robotics and automation, Leuven (Belgium), 16-21 May 1998; Other Information: PBD: 10 Mar 1998
Research Org:
Sandia National Labs., Albuquerque, NM (United States)
Sponsoring Org:
USDOE Office of Financial Management and Controller, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; ROBOTS; CONTROL SYSTEMS; VISION; REMOTE HANDLING; AUTOMATION; COMPUTER-AIDED DESIGN; COMPUTER GRAPHICS