Volume 29 Issue 11 - Publication Date: September 2010

CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly

B. Tamadazte, E. Marchand, S.Dembélé and N. Le Fort-Piat

The International Journal of Robotics Research 2010 29: 1416-1434

Downloadable Files

Video showing the global view of the five DOF microassembly workcell used - Extension 1.avi (594 kb)
Validation of the CAD modelbased tracking algorithm using 80 mm×80 mm×20 mm sized macro-objects and a peg-in– the-hole camera equipped with a conventional objective lens - Extension 2.avi (428 kb)
Automatic simple and complex MEMS assemblies of 400 μm×400 μm×100 μm sized silicon microparts using the proposed tracking and visual servoing techniques and illustration of the tracking of these microparts in partially blurred images - Extension 3.avi (588 kb)
Validation of the CAD modelbased tracking algorithm using 40 μm×40 μm×5 μm sized silicon micro-objects placed inside a SEM - Extension 4.avi (161 kb)

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