Robust Trajectory Tracking and Visual Servoing Schemes for MEMS Manipulation

被引：0

作者：

Tamadazte, Brahim ^{[1
]}

Piat, Nadine Le-Fort ^{[1
]}

Dembele, Sounkalo ^{[1
]}

机构：

[1] UTBM, ENSMM, AS2M, FEMTO ST Inst,CNRS,UFC,UMR 6174, F-25000 Besancon, France

来源：

2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2010年

关键词：

MICROASSEMBLY SYSTEM;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper focuses on the automation of manipulation and assembly of microcomponents using visual feedback controls. Trajectory planning and tracking methods are proposed in order to avoid occlusions during microparts manipulation and to increase the success rate of pick-and-place manipulation cycles. The methods proposed are validated using a five degree-of-freedom (DOF) microrobotic cell including a 3 DOF mobile platform, a 2 DOF micromanipulator, a gripping system and a top-view imaging system. Promising results on accuracy and repeatability of microballs manipulation tasks are obtained and presented.

引用

页数：6

共 50 条

[21] An Indirect Adaptive Control Approach to Image Based Visual Servoing for Translational Trajectory Tracking
Fried, Jonathan
Lizarralde, Fernando
Leite, Antonio C.
[J]. IFAC PAPERSONLINE, 2020, 53 (02): : 3815 - 3820
[22] Sliding mode control for robust and smooth reference tracking in robot visual servoing
Munoz-Benavent, Pau
Gracia, Luis
Ernesto Solanes, J.
Esparza, Alicia
Tornero, Josep
[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2018, 28 (05) : 1728 - 1756
[23] Visual Servoing Trajectory Tracking and Depth Identification for Mobile Robots with Velocity Saturation Constraints
Wang, Runhua
Zhu, Zhejin
Zhang, Xuebo
Fang, Yongchun
Li, Baoquan
[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2024, 71 (06) : 5950 - 5959
[24] Robust real-time instrument tracking in ultrasound images for visual servoing
Ortmaier, T
Vitrani, MA
Morel, G
Pinault, S
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 2167 - 2172
[25] Visual servoing frameworks for microassembly of hybrid MEMS
Ralis, SJ
Vikramaditya, B
Nelson, BJ
[J]. MICROROBOTICS AND MICROMANIPULATION, 1998, 3519 : 70 - 79
[26] Trajectory Guided Robust Visual Object Tracking With Selective Remedy
Wang, Han
Liu, Jing
Su, Yuting
Yang, Xiaokang
[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, 2023, 33 (07) : 3425 - 3440
[27] Visual Servoing for Humanoid Grasping and Manipulation Tasks
Vahrenkamp, Nikolaus
Wieland, Steven
Azad, Pedram
Gonzalez, David
Asfour, Tamim
Dillmann, Ruediger
[J]. 2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 413 - 419
[28] A shape tracking algorithm for visual servoing
Li, PH
Chaumette, F
Tahri, O
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 2847 - 2852
[29] Feature tracking for visual servoing purposes
Marchand, É
Chaumette, F
[J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2005, 52 (01) : 53 - 70
[30] On optimising tracking performance for visual servoing
Vincze, M
Weiman, CFR
[J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 2856 - 2861

← 1 2 3 4 5 →