• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2005, Vol. 41 ›› Issue (6): 153-156.

• 论文 • 上一篇    下一篇

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基于视觉伺服的3D微定位控制

徐征;刘冲;罗怡;王立鼎   

  1. 大连理工大学精密与特种加工教育部重点实验室
  • 发布日期:2005-06-15

CONTROL OF 3D MICROPOSITIONING BASED ON VISUAL SERVOING

Xu Zheng;Liu Chong;Luo Yi;Wang Liding   

  1. Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology
  • Published:2005-06-15

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摘要： 分析了基于全局显微视觉的视觉伺服定位控制方法。推导了G型体视显微镜的成像模型，结合图像视觉伺服和立体视觉理论，建立了3D微定位视觉伺服控制模型。在自主研制的微操作系统上进行了3D视觉伺服微定位试验，并分析了影响视觉伺服定位控制精度的误差因素，通过标定获得重要的控制参数。试验结果表明：采用3D微定位伺服控制模型的定位误差为±(3～4)μm，定位精度和稳定性能满足微定位的要求。

关键词: 微定位　视觉伺服　微操　立体视觉

Abstract: Approach of global microvision-based visual servoing for micropositioning is analyzed. Imaging model of G-stereoscopic microscope is derived. According to techniques of image-based visual servoing and stereovision, 3D visual servoing model for micropositioning is built up. The experiments to verify its precision and feasibility are conducted with in-house micromanipulation system and the error factors to affect the precision of micropositioning are analyzed too. The pivotal parameters are acquired through calibration. From the experiment results,the positioning error is about ±(3～4) μm with this visual servoing model for micropositioning. Its precision and stability can be satisfied for micropositioning.

Key words: Stereo vision, Visual servoing, Micromanipulation, Micropositioning

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