Skill-based micromanipulation system for assembly operation

摘要

A micromanipulation system has been developed in the author's lab, and it can realize many basic microassembly operations. The paper describes how to expand its functions and strengthen its flexibility and reliability based on the skill-based method. The skill primitive is the sensor-based robot motion. Users can compile the assembly task based on these skill primitives in a file. Then the system can automatically execute the assembly task. During the assembly process, users can manage the workflow of the assembly tasks, for example, to suspend the assembly operation or insert new assembly skills for possible adjustment or error recovery. Experimental results show the feasibility and efficiency of the proposed microassembly system.