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Positioning Cylindrical Target Based on Three-Microscope Vision System
Zhang, Pengcheng C.; Xu, De; Zou, Wei; Wu, Baolin L.
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2014-10-01
Volume19Issue:5Pages:1612-1624
SubtypeArticle
AbstractNew 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.
KeywordImage-based Visual Control Microscope Vision Multisensor Position-based Visual Control Positioning
WOS HeadingsScience & Technology ; Technology
WOS KeywordMODEL-BASED TRACKING ; VISUAL SERVO CONTROL ; MICROASSEMBLY SYSTEM ; CALIBRATION ; REALITY ; CAMERA
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000338107600014
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3051
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorWu, Baolin L.
AffiliationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
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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