Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues

Volume 5226 of the series Lecture Notes in Computer Science pp 1164-1172

Micromanipulation Using a Microassembly Workstation with Vision and Force Sensing

  • Hakan BilenAffiliated withFaculty of Engineering and Natural Sciences, Sabanci University
  • , Mustafa UnelAffiliated withFaculty of Engineering and Natural Sciences, Sabanci University

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This paper reports our ongoing work on a microassembly workstation developed for efficient and robust 3D automated assembly of microobjects. The workstation consists of multiple view imaging system, two 3-DOF high precision micromanipulators, and a 3-DOF positioning stage with high resolution rotation control, force sensing probe and gripper, and the control software system. A hybrid control scheme using both vision and force sensory information is proposed for precise and dexterous manipulation of microobjects. A micromanipulation experiment that aims to locate the microspheres to the predefined configuration by using an integrated vision and force control scheme is successfully demonstrated to show the validity of the proposed methods.


microassembly micromanipulation visual servoing force control