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Proceedings Paper

3D micropositioning control based on stereo microscopic visual servoing system
Author(s): Xiaopeng Sha; Huiguang Li; Shuai Wang; Zhiquan Li; Guoyou Li
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Paper Abstract

In this paper, the global visual servoing micropositioning control method is analyzed and the imaging model is derived based on the CMO type stereo light microscopes (SLM). The model contains no depth information and the left and right image information is used to obtain the image Jacobian matrix. Considering the kinematics characteristics of micro robot, we design an image-based controller. The experimental and simulation results based on the four degree-offreedom (DOF) microrobot system demonstrate the validity of the theory in this paper.

Paper Details

Date Published: 21 August 2014
PDF: 7 pages
Proc. SPIE 9283, 7th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Design, Manufacturing, and Testing of Micro- and Nano-Optical Devices and Systems, 92830E (21 August 2014); doi: 10.1117/12.2067862
Show Author Affiliations
Xiaopeng Sha, Yanshan Univ. (China)
Huiguang Li, Yanshan Univ. (China)
Shuai Wang, Yanshan Univ. (China)
Zhiquan Li, Yanshan Univ. (China)
Guoyou Li, Yanshan Univ. (China)


Published in SPIE Proceedings Vol. 9283:
7th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Design, Manufacturing, and Testing of Micro- and Nano-Optical Devices and Systems
Tianchun Ye; A. G. Poleshchuk; Song Hu, Editor(s)

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