SLIDE 1 Center for Automation Technologies Center for Automation Technologies Center for Automation Technologies Center for Automation Technologies and Systems (CATS) and Systems (CATS) and Systems (CATS) and Systems (CATS)
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Multiprobe Microassembly Control Issues
SLIDE 2
Motivation
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SLIDE 3
NIST Project
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SLIDE 4 Micro Assembly Research at CATS
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SLIDE 5
Previous Work
Ferreira 2004 Gorman 2006 Shimada, Fearing 2000 Zyvex 2005 Cappelleri, Kumar, Trinkle 2006
SLIDE 6
Previous Work
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SLIDE 7
Microassembly Challenges
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SLIDE 8
Initial Insertion Demonstration Project
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SLIDE 9
Automated Insertion Video
SLIDE 10 Part Centering
- Template matching to find
part in 1.5X image
- Initial move inv. kin.
- Center part in 4X image with
template Matching
SLIDE 11
Grasp Sequence
Initial kinematic Probe Position Refined with vision feedback Initial probe height Lowered probe height (vision using reflection)
SLIDE 12 Grasp Sequence
- Grasp Formation
- Pressure controlled with visual
force feedback Part lifted off surface
Grasp formation strategy is very reliable Grasp formation strategy is very reliable Grasp formation strategy is very reliable Grasp formation strategy is very reliable
SLIDE 13
Third Probe Part Flip
Initial Orientation Final Orientation
SLIDE 14
Part Insertion
Initial kinematic alignment Aligned for insertion with vision
SLIDE 15
Part Insertion/Release
Part Inserted Part Released
Grasp release is very reliable Grasp release is very reliable Grasp release is very reliable Grasp release is very reliable
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SLIDE 16 System Kinematics
$6 $1 $@ $A $4 6 7 1 7 6 1 @ A 4
X Y Z
SLIDE 17 Vision System
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0.2 0.4 0.6 0.8 1
SLIDE 18
Part Location
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SLIDE 19 3D Probe Tip Locator
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Adhesion
Part mg=43nN L=150m Probe
SLIDE 22
Probe-Part Contact Model
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SLIDE 23 Grasp Stability Conditions Grasp Stability Conditions Grasp Stability Conditions Grasp Stability Conditions
30°
P TL TR nL tL nR tR
nPL nL
nR
P TL TR
∑
= = M F
R R T R L L T L
q K q q K q ~ 2 1 ~ 2 1 min +
where
R PR R L PL L
T T q T T q − = − =
Compliant Probe Deflection
Probe Setpoint Probe Position =
R PL L
n q n q
- System will configure to local energy minima
System will configure to local energy minima System will configure to local energy minima System will configure to local energy minima
- Adhesion will change force balance
Adhesion will change force balance Adhesion will change force balance Adhesion will change force balance
- Adhesion will change minima conditions
Adhesion will change minima conditions Adhesion will change minima conditions Adhesion will change minima conditions
- Minima is path dependant!!
Minima is path dependant!! Minima is path dependant!! Minima is path dependant!!
Adh L R R R Adh L L L L
F q K F F q K F
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~ ~ + = + = >
R L L
n F n F
SLIDE 24
Conclusion
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SLIDE 25
Future Work
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