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Proceedings Paper

Visual control and calibration of parallel robots for microassembly
Author(s): Juergen Hesselbach; Reinhold Ritter; Ralf Thoben; Carsten Reich; Gero Pokar
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Paper Abstract

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.

Paper Details

Date Published: 5 October 1998
PDF: 12 pages
Proc. SPIE 3519, Microrobotics and Micromanipulation, (5 October 1998); doi: 10.1117/12.325748
Show Author Affiliations
Juergen Hesselbach, Technical Univ. of Braunschweig (Germany)
Reinhold Ritter, Technical Univ. of Braunschweig (Germany)
Ralf Thoben, Technical Univ. of Braunschweig (Germany)
Carsten Reich, Technical Univ. of Braunschweig (Germany)
Gero Pokar, Technical Univ. of Braunschweig (Germany)

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

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