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.
Type de document :
Communication dans un congrès
IEEE/ASME Int Conf. on Advanced Intelligent Mechatronics, AIM'14, Jul 2014, Besancon, France. pp.918-923, 2014
https://hal.inria.fr/hal-00997315
Contributeur : Eric Marchand
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Soumis le : mardi 27 mai 2014 - 21:48:32
Dernière modification le : vendredi 16 novembre 2018 - 01:44:28
Document(s) archivé(s) le : mercredi 27 août 2014 - 12:11:21
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, 2014. 〈hal-00997315〉
