中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Positioning Cylindrical Target Based on Three-Microscope Vision System

文献类型:期刊论文

作者Zhang, Pengcheng C.; Xu, De; Zou, Wei; Wu, Baolin L.
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2014-10-01
卷号19期号:5页码:1612-1624
关键词Image-based visual control microscope vision multisensor position-based visual control positioning
英文摘要New visual positioning and adjustment techniques for cylinder target are presented based on three-microscope vision system, which is used for visually guiding the manipulation of microparts with an eye-to-hand configuration. An image-based visual control (IBVC) with image Jacobian matrix and a position-based visual control (PBVC) algorithm for the three-microscope vision system are investigated. In IBVC, the image Jacobian matrix of three-microscope vision system is constructed and estimated based on the exploratory motions. Meanwhile, the singularity of the image Jacobian matrix is analyzed by the corresponding condition number. Then, the incremental PI controller is applied to make image features converge to the desired ones. In PBVC, the coordinate system of three-microscope vision is established by three clear imaging planes. The position and orientation adjustment algorithms are employed to drive the target to the desired pose. By the comparative experiments, the IBVC scheme demonstrates the better performance on sensitivity and precision, while the PBVC scheme exhibits the better performance on stability and robustness. The pose deviations can converge to within 15 mu m along X-, Y-, Z-axis directions and within 0.02 degrees. around X- and Z-axis directions.
WOS标题词Science & Technology ; Technology
类目[WOS]Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]Automation & Control Systems ; Engineering
关键词[WOS]MODEL-BASED TRACKING ; VISUAL SERVO CONTROL ; MICROASSEMBLY SYSTEM ; CALIBRATION ; REALITY ; CAMERA
收录类别SCI
语种英语
WOS记录号WOS:000338107600014
源URL[http://ir.ia.ac.cn/handle/173211/3051]  
专题精密感知与控制研究中心_精密感知与控制
作者单位Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Zhang, Pengcheng C.,Xu, De,Zou, Wei,et al. Positioning Cylindrical Target Based on Three-Microscope Vision System[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2014,19(5):1612-1624.
APA Zhang, Pengcheng C.,Xu, De,Zou, Wei,&Wu, Baolin L..(2014).Positioning Cylindrical Target Based on Three-Microscope Vision System.IEEE-ASME TRANSACTIONS ON MECHATRONICS,19(5),1612-1624.
MLA Zhang, Pengcheng C.,et al."Positioning Cylindrical Target Based on Three-Microscope Vision System".IEEE-ASME TRANSACTIONS ON MECHATRONICS 19.5(2014):1612-1624.

入库方式: OAI收割

来源:自动化研究所

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