Positioning Cylindrical Target Based on Three-Microscope Vision System

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Positioning Cylindrical Target Based on Three-Microscope Vision System
	Zhang, Pengcheng C.; Xu, De; Zou, Wei; Wu, Baolin L.
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2014-10-01
卷号	19 期号:5 页码:1612-1624
文章类型	Article
摘要	New visual positioning and adjustment techniques for cylinder target are presented based on three-microscope vision system, which is used for visually guiding the manipulation of microparts with an eye-to-hand configuration. An image-based visual control (IBVC) with image Jacobian matrix and a position-based visual control (PBVC) algorithm for the three-microscope vision system are investigated. In IBVC, the image Jacobian matrix of three-microscope vision system is constructed and estimated based on the exploratory motions. Meanwhile, the singularity of the image Jacobian matrix is analyzed by the corresponding condition number. Then, the incremental PI controller is applied to make image features converge to the desired ones. In PBVC, the coordinate system of three-microscope vision is established by three clear imaging planes. The position and orientation adjustment algorithms are employed to drive the target to the desired pose. By the comparative experiments, the IBVC scheme demonstrates the better performance on sensitivity and precision, while the PBVC scheme exhibits the better performance on stability and robustness. The pose deviations can converge to within 15 mu m along X-, Y-, Z-axis directions and within 0.02 degrees. around X- and Z-axis directions.
关键词	Image-based Visual Control Microscope Vision Multisensor Position-based Visual Control Positioning
WOS标题词	Science & Technology ; Technology
关键词[WOS]	MODEL-BASED TRACKING ; VISUAL SERVO CONTROL ; MICROASSEMBLY SYSTEM ; CALIBRATION ; REALITY ; CAMERA
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000338107600014
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3051
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Wu, Baolin L.
作者单位	Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
第一作者单位	精密感知与控制研究中心
通讯作者单位	精密感知与控制研究中心
推荐引用方式 GB/T 7714	Zhang, Pengcheng C.,Xu, De,Zou, Wei,et al. Positioning Cylindrical Target Based on Three-Microscope Vision System[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2014,19(5):1612-1624.
APA	Zhang, Pengcheng C.,Xu, De,Zou, Wei,&Wu, Baolin L..(2014).Positioning Cylindrical Target Based on Three-Microscope Vision System.IEEE-ASME TRANSACTIONS ON MECHATRONICS,19(5),1612-1624.
MLA	Zhang, Pengcheng C.,et al."Positioning Cylindrical Target Based on Three-Microscope Vision System".IEEE-ASME TRANSACTIONS ON MECHATRONICS 19.5(2014):1612-1624.

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TMECH-04-2013-2938.p（1409KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载