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Optical Engineering

Three-dimensional positioning control based on stereo microscopic visual servoing system
Author(s): Xiaopeng Sha; Huiguang Li; Wenchao Li; Shuai Wang
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Paper Abstract

A stereo microscopic system as a high-precision visual feedback is widely used in the fields of micro-three-dimensional (3-D) measurement and micromanipulation tasks. A new stereo binocular visual servoing model based on a Greenough-type stereoscopic light microscope to solve the 3-D micropositioning problem is proposed. The new model contains no depth information, but the information at the left and right images is used to obtain the image Jacobian matrix. Visual information can be directly obtained from the 3-D space without measuring or estimating the depth information of the unknown points of the object via this new model. The new model can not only accurately and rapidly realize automatic control for a micromanipulation system, but also improve the system control performance. We design an image-based controller with consideration of the kinematics characteristics of a microrobot. Experimental results verify the validity of the model.

Paper Details

Date Published: 26 January 2015
PDF: 9 pages
Opt. Eng. 54(1) 013106 doi: 10.1117/1.OE.54.1.013106
Published in: Optical Engineering Volume 54, Issue 1
Show Author Affiliations
Xiaopeng Sha, Yanshan Univ. (China)
Huiguang Li, Yanshan Univ. (China)
Wenchao Li, Northeastern Univ. at Qinhuangdao (China)
Shuai Wang, Yanshan Univ. (China)

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