Control Architecture of a Flexible Microrobot-based Microassembly Station
نویسندگان
چکیده
Abstract: The assembly of complex microsystems consisting of several single components (i.e. hybrid microsystems) is a task which has to be solved to make mass production of microsystems possible. Therefore, it is necessary to introduce flexible, highly precise and fast microassembly methods. In this paper, the control system of a microrobot-based microassembly desktop station that has been developed at the University of Karlsruhe, will be presented from the lower to the planning levels. This comprises vision-based closed-loop control, user interfaces, a re-configurable computer-array, execution planning and assembly planning algorithms tailored to the needs of the microassembly station.
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