Motion-based microscopic camera calibration and application on micro tube-hole insertion

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	Motion-based microscopic camera calibration and application on micro tube-hole insertion
	Li, Fudong; Xu, De; Shi, Yali; Zhang, Zhengtao
刊名	OPTICAL ENGINEERING
	2014-05-01
卷号	53 期号:5 页码:053103-1-9
关键词	feature extraction autofocus calibration microscopic camera visual servoing aligning microassembly
英文摘要	An automatic approach based on microscopic visual control is proposed for a microassembly task, which is to insert a 10-mu m-diameter glass tube into a 12-mu m-diameter hole on a silicon substrate. A three-degree-of-freedom manipulator is used to control the motion of the glass tube. A microscopic camera is mounted on a movable platform toward the hole in the inclined direction similar to 30 deg from horizontal plane in order to view the hole and the tube. A calibration method based on active motions is designed to estimate the intrinsic and extrinsic parameters of the microscopic camera, which includes only two steps of motion of the tube's tip on the focal plane of the microscopic camera. The relative position errors are computed from the image feature errors and the parameters of the microscopic camera. A position-based control strategy is applied to align the tip to the position above the hole, which controls the tip to move to the hole along x, y, and z axes simultaneously. The tip is moved down a specified distance to insert into the hole after autofocus in order to improve the insertion accuracy. The experimental results verify the effectiveness of the proposed method. (C) 2014 Society of Photo-Optical Instrumentation Engineers (SPIE)
WOS标题词	Science & Technology ; Physical Sciences
类目[WOS]	Optics
研究领域[WOS]	Optics
关键词[WOS]	VISUAL MEASUREMENT ; VISION ; MODEL
收录类别	SCI
语种	英语
WOS记录号	WOS:000340680800021
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3054]
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, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Fudong,Xu, De,Shi, Yali,et al. Motion-based microscopic camera calibration and application on micro tube-hole insertion[J]. OPTICAL ENGINEERING,2014,53(5):053103-1-9.
APA	Li, Fudong,Xu, De,Shi, Yali,&Zhang, Zhengtao.(2014).Motion-based microscopic camera calibration and application on micro tube-hole insertion.OPTICAL ENGINEERING,53(5),053103-1-9.
MLA	Li, Fudong,et al."Motion-based microscopic camera calibration and application on micro tube-hole insertion".OPTICAL ENGINEERING 53.5(2014):053103-1-9.