DocumentCode :
3322031
Title :
Self-optimizing Visual Servoing Control for Microassembly Robotic Depth Motion
Author :
Wang, Min ; Lv, Xiadong ; Huang, Xinhan
Author_Institution :
Huazhong Univ. of Sci. & Technol., Wuhan
fYear :
2007
fDate :
8-11 July 2007
Firstpage :
482
Lastpage :
486
Abstract :
This paper presents a self-optimizing visual servoing control method for microassembly robotic depth motion. To measure micromanipulator depth motion, a normalized gray-variance focus measure operator is developed using depth from focus techniques. The extracted defocus features are theoretically distributed with one peak point which can be applied to locate the microscopic focal depth via self- optimizing control. Tracking differentiators are developed to suppress noises and track the features and their differential values without oscillation. Based on the differential defocus signals a coarse-to-fine self-optimizing controller is presented for micromanipulator to precisely locate focus depth. Experimental results of microassembly robotic depth motion demonstrate the performance of the proposed method with depth servo error of 7.5 mum.
Keywords :
microassembling; micromanipulators; motion control; robot vision; robotic assembly; self-adjusting systems; visual servoing; microassembly robotic depth motion; micromanipulator depth motion; normalized gray-variance focus measure operator; self-optimizing visual servoing control; tracking differentiators; Cameras; Computer vision; Design for disassembly; Focusing; Microassembly; Micromanipulators; Microscopy; Motion control; Robot control; Visual servoing; Microscopic visual servoing; depth from focus; self optimization control; tracking differentiator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Acquisition, 2007. ICIA '07. International Conference on
Conference_Location :
Seogwipo-si
Print_ISBN :
1-4244-1220-X
Electronic_ISBN :
1-4244-1220-X
Type :
conf
DOI :
10.1109/ICIA.2007.4295781
Filename :
4295781
Link To Document :
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