2A2-G09 力制御と視覚による位置制御を利用したサブミリメートル電子部品のハンドリング(生産システム・生産機器メカトロニクス)

概要

論文の詳細を見る
This paper presents handling of small electronic parts whose size is submillimeter or smaller. For assembly of small parts which compose electronic devices or micro robots, we need two key technologies: accurate position control and force control while handling them. In this paper, we utilize a four degree-of-freedom assembly robot with a camera for position control. This vision-based assembly system gives us positioning accuracy of micrometer order. Pressing load in pick-and-place of small objects is controlled by PID control with mechanical springs and a displacement sensor. We execute some experiments to handle small electronic parts using above-mentioned force control and vision-based position control.
一般社団法人日本機械学会の論文
2007-05-11