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Flexible Vision Based Control for Micro-Factories

[+] Author Affiliations
Gianmauro Fontana, Serena Ruggeri, Irene Fassi

ITIA-CNR, Milan, Italy

Giovanni Legnani

University of Brescia, Brescia, Italy

Paper No. DETC2013-12643, pp. V001T09A029; 7 pages
doi:10.1115/DETC2013-12643
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5584-3
  • Copyright © 2013 by ASME

abstract

In the micro-manipulation field, the adoption of vision-based strategies can suitably support the motion system in easily performing precise manipulation operations. In this context, the cooperation between the robot and the vision system is fundamental to achieve high performance. The paper introduces and critically discusses the main issues related to the design and implementation of vision-based control for a micro-manipulation work-cell. The core issues of the developed software architecture, such as the work-cell calibration and the task execution module, are described and its main characteristics highlighted. The application of this program within a micro-assembly work-cell set-up allowed the execution of various manipulation operations, thus representing a test bench for its capabilities evaluation. The actual execution of a pick&place task is finally discussed.

Copyright © 2013 by ASME

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