2A2-G09 Handling of Submillimeter-sized Electronic Parts Using Force Control and Vision-based Position Control
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- MAKITA Satoshi
- Yokohama National University
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- MAEDA Yusuke
- Yokohama National University
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- KADONO Yosuke
- Yokohama National University
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- MIURA Sayaka
- AJI Co., Ltd.
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- KUNIOKA Isao
- AJI Co., Ltd.
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- YOSHIDA Kunio
- AJI Co., Ltd.
Bibliographic Information
- Other Title
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- 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)
Abstract
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.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2007 (0), _2A2-G09_1-_2A2-G09_4, 2007
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001205933641856
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- NII Article ID
- 110008695569
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed