基于视觉的微机器人纤维表征平台微机械臂三维标定

2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) Pub Date : 2012-08-01 DOI:10.1109/3M-NANO.2012.6472968

Yikun Xiong, M. von Essen, J. Hirvonen, P. Kallio

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引用次数: 0

摘要

标定在自动微操作系统的开发中具有重要意义。提出了一种新的基于视觉的微机械臂三维标定方法。本文详细讨论了所提出的标定方法中的两个主要问题——视觉系统标定和机械手运动学标定。利用三维微机械臂在微机器人纤维表征平台上进行了验证和评价实验。结果表明，所提出的标定方法能够将姿态误差减小到5微米以下。

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Vision based 3D calibration of micromanipulator in microrobotic fiber characterization platform

Calibration is of great significance in the development of automatic micromanipulation systems. This paper presents a novel vision based procedure for three dimensional (3D) calibration of micromanipulators. Two major issues in the proposed calibration approach - vision system calibration and manipulator kinematic calibration - are discussed in details in this paper. Verification and evaluation experiments are conducted using a 3D micromanipulator in a microrobotic fiber characterization platform. The results demonstrate that the proposed calibration approach is able to reduce the pose error below 5 micrometers.

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2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

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