{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T10:29:01Z","timestamp":1768732141834,"version":"3.49.0"},"reference-count":48,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2010,7,29]],"date-time":"2010-07-29T00:00:00Z","timestamp":1280361600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,9]]},"abstract":"<jats:p> This paper investigates sequential robotic microassembly for the construction of 3D micro-electro-mechanical systems (MEMSs) structures using a 3D visual servoing approach. The previous solutions proposed in the literature for these kinds of problems are based on 2D visual control because of the lack of precise and robust 3D measures from the work scene. In this paper, the relevance of the real-time 3D visual tracking method and the 3D vision-based control law proposed is demonstrated. The 3D poses of the MEMSs are supplied in real-time by a computer-aided design model-based tracking algorithm. This algorithm is sufficiently accurate and robust to enable a precise regulation toward zero of the 3D error using the proposed pose-based visual servoing approach. Experiments on a microrobotic setup have been carried out to achieve assemblies of two or more 400 \u03bcm \u00d7 400 \u03bcm \u00d7 100 \u03bcm silicon micro-objects by their respective 97 \u03bcm \u00d7 97 \u03bcm \u00d7 100 \u03bcm notches with an assembly clearance from 1 \u03bcm to 5 \u03bcm. The different microassembly processes are performed with a mean error of 0.3 \u03bcm in position and 0.35\u00d7 10<jats:sup>\u22122<\/jats:sup> rad in orientation. <\/jats:p>","DOI":"10.1177\/0278364910376033","type":"journal-article","created":{"date-parts":[[2010,7,30]],"date-time":"2010-07-30T00:50:19Z","timestamp":1280451019000},"page":"1416-1434","source":"Crossref","is-referenced-by-count":77,"title":["CAD Model-based Tracking and 3D Visual-based Control for MEMS                 Microassembly"],"prefix":"10.1177","volume":"29","author":[{"given":"B.","family":"Tamadazte","sequence":"first","affiliation":[{"name":"Femto-St Institute, UMR CNRS 6174 - UFC \/ ENSMM \/ UTBM, Automatic Control                         and Micro-Mechatronic Systems Department, Besan\u00e7on, France,"}]},{"given":"E.","family":"Marchand","sequence":"additional","affiliation":[{"name":"INRIA Rennes-Bretagne Atlantique, IRISA, Lagadic, France"}]},{"given":"S.","family":"Demb\u00e9l\u00e9","sequence":"additional","affiliation":[{"name":"Femto-St Institute, UMR CNRS 6174 - UFC \/ ENSMM \/ UTBM, Automatic Control                         and Micro-Mechatronic Systems Department, Besan\u00e7on, France"}]},{"given":"N.","family":"Le Fort-Piat","sequence":"additional","affiliation":[{"name":"Femto-St Institute, UMR CNRS 6174 - UFC \/ ENSMM \/ UTBM, Automatic Control                         and Micro-Mechatronic Systems Department, Besan\u00e7on, France"}]}],"member":"179","published-online":{"date-parts":[[2010,7,29]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.380641"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/CIRA.2005.1554264"},{"key":"atypb3","volume-title":"IEEE International Conference Robotics and Automation","author":"Ammi, M."},{"key":"atypb4","volume-title":"IEEE International Conference Robotics and Automation","author":"Ammi, 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