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A CAD model based tracking system for visually guided microassembly

Published online by Cambridge University Press:  14 June 2005

Kemal Berk Yesin  and
Bradley J. Nelson
Kemal Berk Yesin
Affiliation:
Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH), Zurich (Switzerland)
Bradley J. Nelson
Affiliation:
Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH), Zurich (Switzerland)
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Abstract

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We present a visual feedback method for closed loop control of automated microassembly. A CAD model based multi-camera visual tracking system that is well suited for flexible automation and assembly of complex 3D geometries was developed. The system is capable of providing six degree-of-freedom pose feedback on the observed micro-components in real-time (30 Hz). Using CAD models of the observed objects, a complete description of the observed scene, including the effect of occlusions, is available and dependence on distinctive visual features such as fudicial marks is avoided.

Keywords

Visual trackingVisual servoingCADMicroassemblyMicromanipulation
Type
Research Article
Information
Robotica , Volume 23 , Issue 4 , July 2005 , pp. 409 - 418
Copyright
© 2005 Cambridge University Press