CAD-driven microassembly and visual servoing

Conference · Tue Mar 10 00:00:00 EST 1998

OSTI ID:650243

Feddema, J T; Simon, R W

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.

• Research Organization: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: USDOE Office of Financial Management and Controller, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 650243
• Report Number(s): SAND-98-0621C; CONF-980537-; ON: DE98002812; BR: YN0100000; TRN: AHC2DT04%%156
• Resource Relation: Conference: 1998 IEEE international conference on robotics and automation, Leuven (Belgium), 16-21 May 1998; Other Information: PBD: 10 Mar 1998
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
ROBOTS
CONTROL SYSTEMS
VISION
REMOTE HANDLING
AUTOMATION
COMPUTER-AIDED DESIGN
COMPUTER GRAPHICS