Automatic micropart re-orientation through visual tracking for automated micro-Assembly

Kar Hang Chu, James K. Mills, William L. Cleghorn

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)


The process of microassembly often involves the manipulation and grasping of complex micro-sized objects. These micro-objects are generally initially placed at random orientations in the plane when transferred to an assembly workstation. The part orientations must be corrected in order for the gripper to grasp them. Visual monitoring feedback is commonly used to assist in the re-orientation and manipulation process. However, due to the very limited field of view of imaging systems used in micro-Assembly, the target micro-object may not remain within the viewable area during the re-orientation processes. This paper presents an integrated controller algorithm to automatically rotate micro-objects to the desired orientation in the plane for grasping. This novel algorithm incorporates the technique of dynamic tracking to prevent the target micro-object from shifting outside of the viewable area during the re-orientation process. As the micro-object is rotated to correct its orientation, the algorithm will evaluate the required translational inputs in order to maintain the micro-object within the field of view. To minimize the delay due to feedback control, the proposed algorithm employs the principle of Kalman filter estimation to track and project the motion at the next sampling interval. The proposed algorithm was evaluated experimentally with a microassembly operation using an in-house micro-manipulator. Results from the experiments showed that the proposed tracking algorithm was capable of tracking and maintaining the targeted micropart at the specified location with an error of within +/-15 pixels.
Original languageEnglish
Title of host publicationASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
Number of pages8
Publication statusPublished - 1 Dec 2010
Externally publishedYes
EventASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010 - Vancouver, BC, Canada
Duration: 12 Nov 201018 Nov 2010


ConferenceASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
CityVancouver, BC

ASJC Scopus subject areas

  • Mechanical Engineering

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