Three-dimensional positioning control based on stereo microscopic visual servoing system

Xiaopeng Sha; Huiguang Li; Wenchao Li; Shuai Wang

doi:10.1117/1.OE.54.1.013106

26 January 2015 Three-dimensional positioning control based on stereo microscopic visual servoing system

Xiaopeng Sha, Huiguang Li, Wenchao Li, Shuai Wang

Author Affiliations +

Optical Engineering, Vol. 54, Issue 1, 013106 (January 2015). https://doi.org/10.1117/1.OE.54.1.013106

Abstract

A stereo microscopic system as a high-precision visual feedback is widely used in the fields of micro-three-dimensional (3-D) measurement and micromanipulation tasks. A new stereo binocular visual servoing model based on a Greenough-type stereoscopic light microscope to solve the 3-D micropositioning problem is proposed. The new model contains no depth information, but the information at the left and right images is used to obtain the image Jacobian matrix. Visual information can be directly obtained from the 3-D space without measuring or estimating the depth information of the unknown points of the object via this new model. The new model can not only accurately and rapidly realize automatic control for a micromanipulation system, but also improve the system control performance. We design an image-based controller with consideration of the kinematics characteristics of a microrobot. Experimental results verify the validity of the model.

Citation Download Citation

Xiaopeng Sha, Huiguang Li, Wenchao Li, and Shuai Wang "Three-dimensional positioning control based on stereo microscopic visual servoing system," Optical Engineering 54(1), 013106 (26 January 2015). https://doi.org/10.1117/1.OE.54.1.013106

Published: 26 January 2015

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