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

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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
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 31 Oct 2007 11:03
Last Modified: 26 Apr 2022 08:41
URI: https://research.sabanciuniv.edu/id/eprint/5635

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