Abstract : In this paper, an approach for 6-DoF automatic micropositioning is presented. It involves a closed-loop visual servoing scheme in order to achieve eye-to-hand positioning task in micro-scale. Instead of using classical visual features in the servoing scheme, pure image photometric information from the vision sensor is employed to compute the control law for micropositioning. The approach is validated in simulation as well as experimentally on a parallel positioning stage and a digital microscope at low magnification. Experimental results show the accuracy and efficiency of this control scheme.
https://hal.inria.fr/hal-00997315 Contributor : Eric MarchandConnect in order to contact the contributor Submitted on : Tuesday, May 27, 2014 - 9:48:32 PM Last modification on : Saturday, January 15, 2022 - 3:47:05 AM Long-term archiving on: : Wednesday, August 27, 2014 - 12:11:21 PM
Le Cui, Eric Marchand, Sinan Haliyo, Stéphane Régnier. 6-DoF automatic micropositioning using photometric information. IEEE/ASME Int Conf. on Advanced Intelligent Mechatronics, AIM'14, Jul 2014, Besancon, France. pp.918-923. ⟨hal-00997315⟩