Vision-Based Robotic Manipulation of Flexible PCBs
Publication in refereed journal
Officially Accepted for Publication


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AbstractRecently, increasing demands on automatic soldering of flexible PCBs (Printed Circuit Boards) have been reflected in the fast expanding 3C (Computer, Communication, and Consumer electronics) manufacturing. However, the deformation of flexible PCBs results in the changing shape and hence the varying position of solder pads on flexible PCBs under applied forces, which opens up challenges for robotic soldering of flexible PCBs. This paper presents a vision-based control scheme for robotic soldering of flexible PCBs. The proposed controller enables the robot to automatically contact then actively deform the flexible PCB into a desired configuration, such that the well deformed PCB can be soldered in an automatic soldering machine. Both operations of contacting and active deformation are smoothly integrated into a single continuous controller and automatically transited by assessing the physical contact online. Neural-network techniques are employed to approximate the unknown deformation model and the uncalibrated camera model. The dynamic stability of the closed-loop system is rigorously proved with Lyapunov methods, and experimental results are presented to illustrate the performance of the proposed controller.
Acceptance Date04/09/2018
All Author(s) ListXiang Li, Xing Su, Yun-Hui Liu
Journal nameIEEE/ASME Transactions on Mechatronics
Year2018
ISSN1083-4435
eISSN1941-014X
LanguagesEnglish-United States

Last updated on 2021-12-06 at 01:32