11 October 2000 Three-dimensional position control of a parallel micromanipulator using visual servoing
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Proceedings Volume 4194, Microrobotics and Microassembly II; (2000) https://doi.org/10.1117/12.403690
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States
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.
© (2000) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Pasi Kallio, Pasi Kallio, Quan Zhou, Quan Zhou, Juha Korpinen, Juha Korpinen, Heikki N. Koivo, Heikki N. Koivo, } "Three-dimensional position control of a parallel micromanipulator using visual servoing", Proc. SPIE 4194, Microrobotics and Microassembly II, (11 October 2000); doi: 10.1117/12.403690; https://doi.org/10.1117/12.403690

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