Rototic Micromanipulation and Microassembly using mono-view and multi-scale visual servoing.

International audienceThis paper investigates sequential robotic micromanipulation and microassembly in order to build 3-D microsystems and devices. A mono-view and multiple scale 2-D visual control scheme is implemented for that purpose. The imaging system used is a photon video microscope endowed with an active zoom enabling to work at multiple scales. It is modelled by a non-linear projective method where the relation between the focal length and the zoom factor is explicitly established. A distributed robotic system (xyθ system, φz system) with a twofingers gripping system is used in conjunction with the imaging system. The results of experiments demonstrate the relevance of the proposed approaches. The tasks were performed with the following accuracy: 1.4 μm for the positioning error, and 0.5 ◦ for the orientation error