The servo control method of a virtual microassemble system integrated CAD model

虚拟技术可克服微装配中显微视觉系统小景深、小视场的问题,但构造虚拟场景时,数据量大、效率低.利用微器件设计时的CAD数据,可减小构造虚拟环境的数据量、提高效率,能够使构造出的场景更精确.利用显微镜聚焦———失焦理论并借助于器件CAD模型构造虚拟环境;将获得的深度信息集成在伺服控制方程中.通过这些方法,可进行复杂路径的规划,完成三维微装配任务,仿真和实验结果均表明上述方法是可行的.Virtual microassembly technology can avoid the problem that the focal depth and the viewing field of microscope are too small.But when building virtual scene there are too many assembly environment data and the efficiency is lower.Using the CAD data produced by the micro-parts can reduce the amount of the environment data and improve efficiency.The virtual environment is constructed using the focus-defocus theory of microscope and the CAD model,and the depth information of microscope is integrated in the servo control equation.By these methods the complex path can be programmed and the complicated micro-assemble task can be completed.The simulation and the experimentation indicate that these methods are feasible.国家自然科学基金资助项目(50275078