Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Force and Vision Feedback for Robotic Manipulation of the Microworld
The Sixth International Symposium on Experimental Robotics VI
A Supervisory Wafer-Level 3D Microassembly System for Hybrid MEMS Fabrication
Journal of Intelligent and Robotic Systems
Vision-Based Force Measurement
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Markerless Tracking for Augmented Reality: The Virtual Visual Servoing Framework
IEEE Transactions on Visualization and Computer Graphics
Real-time Rigid-body Visual Tracking in a Scanning Electron Microscope
International Journal of Robotics Research
High-speed position tracking for nanohandling inside scanning electron microscopes
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Towards automated robot-based nanohandling
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Information centric frameworks for micro assembly
OTM'11 Proceedings of the 2011th Confederated international conference on On the move to meaningful internet systems
International Journal of Robotics Research
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This paper investigates sequential robotic microassembly for the construction of 3D micro-electro-mechanical systems (MEMSs) structures using a 3D visual servoing approach. The previous solutions proposed in the literature for these kinds of problems are based on 2D visual control because of the lack of precise and robust 3D measures from the work scene. In this paper, the relevance of the real-time 3D visual tracking method and the 3D vision-based control law proposed is demonstrated. The 3D poses of the MEMSs are supplied in real-time by a computer-aided design model-based tracking algorithm. This algorithm is sufficiently accurate and robust to enable a precise regulation toward zero of the 3D error using the proposed pose-based visual servoing approach. Experiments on a microrobotic setup have been carried out to achieve assemblies of two or more 400 μm 脙聴 400 μm 脙聴 100 μm silicon micro-objects by their respective 97 μm 脙聴 97 μm 脙聴 100 μm notches with an assembly clearance from 1 μm to 5 μm. The different microassembly processes are performed with a mean error of 0.3 μm in position and 0.35脙聴10â聢聮2 rad in orientation.