Laser measuring system for a flexible microrobot-based micromanipulation station

Abstract

There is an increasing interest in performing assembly of microsystems (i.e. non-destructive transportation, precise manipulation, and exact positioning of microcomponents) by flexible microrobots. A microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. In this paper, new implementation results of a computer vision based automatic control system of a mobile microrobot with an integrated flexible manipulator are discussed. The operations of the robot manipulator take place under a microscope equipped with a CCDcamera. A major drawback of this system is its lack of depth information. For this reason, the sensor system has been enhanced by a line laser, using laser triangulation. The set-up of the modified sensor system is described. The measuring principle is based on a method called sheet of light triangulation, a variation of standard triangulation. This approach is described in detail; its advantages and limitations are discussed.

DOI: 10.1109/IROS.2000.894702

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Cite this paper

@inproceedings{Brkle2000LaserMS, title={Laser measuring system for a flexible microrobot-based micromanipulation station}, author={Axel B{\"{u}rkle and Sergej Fatikow}, booktitle={IROS}, year={2000} }