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Positioning and trajectory following tasks in microsystems using model free visual servoing

Özgür, Erol and Ünel, Mustafa (2007) Positioning and trajectory following tasks in microsystems using model free visual servoing. In: IEEE International Conference on Industrial Electronics (IECON 2007), Taipei, Taiwan (Accepted/In Press)

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Abstract

In this paper, we explore model free visual servoing algorithms by experimentally evaluating their performances for various tasks performed on a microassembly workstation developed in our lab. Model free or so called uncalibrated visual servoing does not need the system calibration (microscope-camera-micromanipulator) and the model of the observed scene. It is robust to parameter changes and disturbances. We tested its performance in point-to-point positioning and various trajectory following tasks. Experimental results validate the utility of model free visual servoing in microassembly tasks.

Item Type:Papers in Conference Proceedings
Subjects:Q Science > QA Mathematics
ID Code:5635
Deposited By:Mustafa Ünel
Deposited On:31 Oct 2007 11:03
Last Modified:31 Oct 2007 11:03

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