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This paper investigates precision assembly combining several subprocesses on a platform with multiple robot arms. The task manipulates irregular objects and incorporates interference and clearance assemblies. We use a mechanism with six robot arms and three microscopes to fulfill this assignment, and propose a general control strategy to attain high precision and protect objects. System calibration...
Difficulties arise in the micro-assembly of many irregular objects and in the insertion with contact between components of soft materials. To handle these problems, we design a micro-operational platform with multiple manipulators to facilitate a sequence of assembly. Six robot arms and three microscopes are incorporated, together with macro and micro motion systems. We also propose a hybrid control...
The microscope has characteristics of a planar vision with small view field and small view depth. For micro operation systems with multiple manipulators, the handling of irregular objects may lead to a nonorthogonal microscopic system, which needs to focus on clear viewing interested features, and it may also hardly locate the exact position and posture of the robot arms. In view of these, this paper...
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