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Title Vision-Assisted Micro Assembly : Construction of experimental setup and calibration test
Author Takeuchi, Toru
Supervisor Hansen, Hans Nørgaard (Department of Manufacturing Engineering and Management, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Eriksson, Torbjörn Gerhard (Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Gegeckaite, Asta (Department of Manufacturing Engineering and Management, Danmarks Tekniske Universitet, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2007
Abstract Recently micro components are used in many applications. At the same time, manufacturing methods of micro components have also developed. Compare to the manufacturing method, assembly method, which has the same or even more importance has still got a lot to be investigated. In this project, we work on a vision assisted assembly system. A vision assisted assembly system is an assembly system using the image from the camera. Using computer vision in the assembly would be a great advantage. But good camera calibration is important to reconstruct a world model or interact with the world with the robot, eye-in-hand coordination. In this thesis, as the first step, we constructed an experimental setup and performed some test. At first, we constructed an eye-in-hand system expermental setup using high mangnification lens and precise robot. Next, calibration tests were performed with the constructed experimental setup. From the result, we confirmed the ability of good calibration or width of the grid. As a case study, we measured micro structure using the camera. We proposed two different ways of measuring. One using a calibrated data and the other without using it. Both result were and showed the ability of calibration.
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Admin Creation date: 2007-03-15    Update date: 2007-03-15    Source: dtu    ID: 196125    Original MXD