Abstract: The application and problems of micromanipulation are introduced. The frames of micropositioning mode are provided. According to the techniques of curve tracing and package rolling, the algorithms of automatic positioning and avoiding obstacles are designed. These algorithms have the function of automatic detecting edges and choosing paths for avoiding obstacles. It helps the micromanipulation system automatically avoid obstacles and position in a steady and continuous manner. Experiments and analyses for avoiding obstacles and position-ing are also shown to prove the feasibility of these algorithms.

Key words: Avoiding obstacles, Computer vision, Micromanipulation system, Abrasive waterjet peening, Steel, Surface properties, Thermal stability of residual stress