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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
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)

Abstract

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.

Type
Research Article
Copyright
© 2005 Cambridge University Press

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