The vision based control (or visual servoing) for the mechanical manipulation of micro particles is the main eld of work of this thesis. Micromanipulation of micro- electro-mechanical systems (MEMS) is an everyday more common technique in a wide variety of industries such as the automotive or the biomedicine. In conjunction with the micromanipulator, the vision based control deals, using computer vision methods, with the analysis of images grabbed from a microscope and, depending on the data extracted, takes the necessary control decisions. In this thesis, the redesign of the current vision module of a Micro Assembly Workstation (MAW) is the rst task done. With a recently bought new microscope, special emphasis in this rst step is given to the mechanical design of its holder. The main objective of the design is in one hand to provide the microscope with two motions corresponding to the two DOF it has: focus adjuster and magni cation (vertical movement). On the other hand, a compact design tting in the existent workstation module is presented, reducing as far as possible the vibrations and or deviations in the microscope movements. Once the microscope is fully operational, an auto focus algorithm is developed in order to reach automatically the desired magni cation while preserving the optimum focus level at the nal position image. A 3-dimensional system (magni cation step - focus step - sharpness) is the basis for the algorithm development.

Outgoing