Vision Feedback Control for the Automation of the Pick-and-Place of a Capillary Force Gripper.

ABSTRACT: In this paper, we describe a newly developed vision feedback method for improving the placement accuracy and success rate of a single nozzle capillary force gripper. The capillary force gripper was developed for the pick-and-place of mm-sized objects. The gripper picks up an object by contacting the top surface of the object with a droplet formed on its nozzle and places the object by contacting the bottom surface of the object with a droplet previously applied to the place surface. To improve the placement accuracy, we developed a vision feedback system combined with two cameras. First, a side camera was installed to capture images of the object and nozzle from the side. Second, from the captured images, the contour of the pre-applied droplet for placement and the contour of the object pi

SUBMITTER: Ito T 

PROVIDER: S-EPMC9413825 | biostudies-literature | 2022 Aug

REPOSITORIES: biostudies-literature