Visual control and calibration of parallel robots for micro assembly

被引：19

作者：

Hesselbach, J ^{[1
]}

Ritter, R ^{[1
]}

Thoben, R ^{[1
]}

Reich, C ^{[1
]}

Pokar, G ^{[1
]}

机构：

[1] Tech Univ Braunschweig, Inst Prod Automat & Handling Technol, D-38106 Braunschweig, Germany

来源：

MICROROBOTICS AND MICROMANIPULATION | 1998年 / 3519卷

关键词：

micro assembly; high precision robot; micrometer accuracy; parallel robot structures; visual control; robot calibration;

D O I：

10.1117/12.325748

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The process of micro assembly requires high precision and accuracy for the positioning of micro parts. Therefore a demand exists for very precise and accurate handling devices with a specific focus on positioning devices. This paper presents an approach using robots based on closed kinematic chains, so called parallel robots, to achieve high precision in automated micro assembly. The discussion continues on a calibration process for parallel robot structures to increase the accuracy of the robot system. However obtaining an accuracy in the range of submicrometer requires an additional sensor controlled positioning process. Hence the paper presents an approach using visual control. That approach includes the application of area based matching techniques as well as photogrammetric calibration of the camera system to increase the accuracy within the image processing.

引用

页码：50 / 61

页数：12