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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