Vision calibration of complex micro-device flexible assembly robot system

Yiwei Hu; Wenrong Wu; Yang Yi

doi:10.1117/12.3011145

1 December 2023 Vision calibration of complex micro-device flexible assembly robot system

Yiwei Hu, Wenrong Wu, Yang Yi

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401V (2023) https://doi.org/10.1117/12.3011145
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Aiming at the complex micro-device assembly robot system that has been built, based on the research on the composition of the motion mechanism and the micro-vision system, and the research on the micro-vision imaging system, derived image Jacobian matrix for parts assembly control based on single-channel or multi-channel micro vision, and obtained the conversion relationship between the pose change of the motion mechanism coordinate system and the micro-vision. And through the method of active movement of each movement mechanism, the image Jacobian matrix calibration between the macro-moving robot, the parts adjustment table, the micro-moving module and the micro-vision is realized. A part detection and adjustment strategy are formulated to realize rapid and effective control of micro parts. Experimental results verify the correctness and accuracy of the calibration method.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yiwei Hu, Wenrong Wu, and Yang Yi "Vision calibration of complex micro-device flexible assembly robot system", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401V (1 December 2023); https://doi.org/10.1117/12.3011145

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