Imaging Components, Systems, and Processing

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

[+] Author Affiliations
Xiaopeng Sha

Yanshan University, Institute of Electrical Engineering, Qinhuangdao, 066004, China

Huiguang Li

Yanshan University, Institute of Electrical Engineering, Qinhuangdao, 066004, China

Wenchao Li

Northeastern University at Qinhuangdao, School of Control Engineering, Qinhuangdao, 066004, China

Shuai Wang

Yanshan University, Institute of Electrical Engineering, Qinhuangdao, 066004, China

Opt. Eng. 54(1), 013106 (Jan 26, 2015). doi:10.1117/1.OE.54.1.013106
History: Received July 16, 2014; Accepted December 24, 2014
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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.

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© 2015 Society of Photo-Optical Instrumentation Engineers

Citation

Xiaopeng Sha ; Huiguang Li ; Wenchao Li and Shuai Wang
"Three-dimensional positioning control based on stereo microscopic visual servoing system", Opt. Eng. 54(1), 013106 (Jan 26, 2015). ; http://dx.doi.org/10.1117/1.OE.54.1.013106


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