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Proceedings Paper

Three-dimensional position control of a parallel micromanipulator using visual servoing
Author(s): Pasi Kallio; Quan Zhou; Juha Korpinen; Heikki N. Koivo
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Paper Abstract

This paper presents a computer-vision based position controller for a highly non-linear parallel piezohydraulic micromanipulator: in addition to its non-linear kinematics the micromanipulator experiences hysteresis and drive induced by piezoelectric actuators. The controller consists of a decoupling matrix that provides the decoupled translations (xyz) in the task frame and three Single Input Single Output (SISO) PI controllers for the translations. Position measurement is performed by a vision system that determines the x and y coordinates of the end- effector using a modified Hierarchical Chamfer Matching Algoritm (HCMA) and the z position using a depth-from-defocus method. Experiments show that the proposed controller is capable of serving the parallel micromanipulator with a sub-micron accuracy at a sampling rate of 18 Hz.

Paper Details

Date Published: 11 October 2000
PDF: 9 pages
Proc. SPIE 4194, Microrobotics and Microassembly II, (11 October 2000); doi: 10.1117/12.403690
Show Author Affiliations
Pasi Kallio, Tampere Univ. of Technology (Finland)
Quan Zhou, Tampere Univ. of Technology (Finland)
Juha Korpinen, VTT Automation (Finland)
Heikki N. Koivo, Helsinki Univ. of Technology (Finland)


Published in SPIE Proceedings Vol. 4194:
Microrobotics and Microassembly II
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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