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Proceedings Paper

Microassembly of peg and hole using active zooming
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Paper Abstract

Visual servoing technique used in microassembly limits its application, due to the two inherent problems, small depth of focus and small field of view. To avoid this criticism, in this paper, we present a method of microassembly using active zooming, which can solve these problems. In order to solve the problem of small field of view, the method using active zooming that can prevent the target out of field of view is proposed. In order to solve the problem of the small depth of focus, we proposed a method to control the zooming lens based on the blur measure of the moving target to get the clear image in the field of view. In this paper, we use affine transformation of feature line to track the object. The proposed microassembly process consists coarse visual servoing and fine visual servoing. A series of experiments are performed on peg and hole assembly to investigate the feasibility of this method.

Paper Details

Date Published: 6 December 2005
PDF: 12 pages
Proc. SPIE 6052, Optomechatronic Systems Control, 605204 (6 December 2005); doi: 10.1117/12.650313
Show Author Affiliations
Xiaodong Tao, Korea Advanced Institute of Science and Technology (South Korea)
Hyungsuck Cho, Korea Advanced Institute of Science and Technology (South Korea)
Youngjun Cho, Korea Institute of Industrial Technology (South Korea)

Published in SPIE Proceedings Vol. 6052:
Optomechatronic Systems Control
Farrokh Janabi-Sharifi, Editor(s)

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