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Proceedings Paper

Planning and control of a microassembly process in a flexible microrobot-based desktop station
Author(s): Sergej Fatikow; Karoly Santa
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Paper Abstract

There is an increasing interest in performing assembly of microsystems (i.e. non-destructive transportation, precise manipulation, and exact positioning of microcomponents) by flexible microrobots. A microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. Several prototypes of piezoelectric driven microrobots and a design of the flexible microassembly desktop station were already presented at the last years' SPIE-meetings. In this paper, some implementation results of the station's planning and control system are presented. On the planning level, a common microassembly model for a computer-aided assembly planning is suggested-which is based on geometric reasoning--and its components are discussed in detail. The feasibility criteria for the generation of feasible assembly sequences and the optimization criteria for selecting the optimal assembly plan are described. For stations employing several microrobots, a method for decomposition of an assembly plan is suggested. Since the station's microrobots are rather complicated systems, it is very hard to find a useful robot model for the control purposes. For this reason, control methods have to be used for positioning of a microrobot, which do not require an exact system model and which allow a reasonable compromise between the real-time processing and the exactness. An intelligent neural controller for positioning a microrobot has been developed.

Paper Details

Date Published: 5 October 1998
PDF: 12 pages
Proc. SPIE 3519, Microrobotics and Micromanipulation, (5 October 1998); doi: 10.1117/12.325746
Show Author Affiliations
Sergej Fatikow, Univ. of Karlsruhe (Germany)
Karoly Santa, Univ. of Karlsruhe (Germany)

Published in SPIE Proceedings Vol. 3519:
Microrobotics and Micromanipulation
Armin Sulzmann; Bradley J. Nelson, Editor(s)

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