|
Abstract:
A newly developed micro operation system assisted by a conceptual 5-DOF
(degree of freedom) macro/micro dual driven micro robot is presented.
With the macro motion mode, the robot is a typical wheeled mobile robot
and with the micro motion mode the robot is an inchworm robot. A
manipulator is mounted on the top of robot platform for the robot
accomplishing micro operation task. To navigate the robot automatically, an intelligent vision sensor system is developed. The vision system includes two parts that are the global vision system and the local vision system. The global visual system guides the robot to accomplish large workspace rapid motion. The local vision system guides the robot to accomplish small workspace precision positioning for micro operation task. Experiments show that the proposed system succeeds in providing micro operation task such as micro part gripping and assembly.
Key words: Miniature mobile robot
Macro/micro dual driven
Micro operation Visual servo control
CLC No: TP242
国家863计划资助项目(2003AA404190). Received 20060106, received in revised form 20060801
|