3D micropositioning control based on stereo microscopic visual servoing system

Xiaopeng Sha; Huiguang Li; Shuai Wang; Zhiquan Li; Guoyou Li

doi:10.1117/12.2067862

21 August 2014 3D micropositioning control based on stereo microscopic visual servoing system

Xiaopeng Sha, Huiguang Li, Shuai Wang, Zhiquan Li, Guoyou Li

Proceedings Volume 9283, 7th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Design, Manufacturing, and Testing of Micro- and Nano-Optical Devices and Systems; 92830E (2014) https://doi.org/10.1117/12.2067862
Event: 7th International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT 2014), 2014, Harbin, China

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.

Citation Download Citation

Xiaopeng Sha, Huiguang Li, Shuai Wang, Zhiquan Li, and Guoyou Li "3D micropositioning control based on stereo microscopic visual servoing system", 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); https://doi.org/10.1117/12.2067862

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KEYWORDS

Visualization

Microscopes

Control systems

3D modeling

Spatial light modulators

Cameras

3D image processing

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