Nadine PIAT – CNRS
Institute FEMTO-ST / Dept AS2M
The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics hold on July 14-17, 2009. The purpose of this conference is to promote activities in various areas of mechatronics by providing a forum for exchange of ideas, presentations of technical achievement, and discussions of future directions.The theme of AIM2009, “Mechatronics for Everyday Lives” reflects the ever growing interests in moving the research, development and applications in advanced intelligent mechatronics into devices and systems close to our daily lives rather than being confined at factory floors.
The technical program includes the presentation of 341 papers organized into 57 sessions. Paper Sessions from Wednesday to Friday cover a broad spectrum of topics and emerging areas in Actuators, Vehicular Technology, Bioengineering, Fault Diagnosis, Human-Machine Interfaces, Industry Applications, Information Technology, Intelligent Systems, Machine Vision, Manufacturing, Micro-Electro-Mechanical Systems, Micro/Nano Technology, Modeling and Design,Motion Vibration andNoise Control,Neural and Fuzzy Control, Opto-Electronic Systems, Robotics, Sensors, System Integration, Transportation Systems, and other fields of mechatronics. Several sessions had concerned micro and nanomanipulation and assembly.
In this framework, we (CNRS) presented our works developed in the HYDROMEL project concerning Real-time Vision-Based Microassembly of 3D MEMS. In this paper the relevance of the real-time 3D visual tracking and control is demonstrated. The 3D poses of the MEMS is supplied by a model-based tracking algorithm in real-time. It is accurate and robust enough to enable a precise regulation toward zero of a 3D error using a visual servoing approach. The assembly of 400 µm x400 µm x100 µm parts by their 100 µm x 100µm x100 µm notches with a mechanical play of 3 mm is achieved with a rate of 41 seconds per assembly. The control accuracy reaches 0.3 µm in position and 0.2° in orientation.