Microassembly of micropeg and -hole using uncalibrated visual servoing method

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In order to achieve high performance visual servoing, substantial efforts must be made for the calibration of intrinsic parameters of the camera and the transformation matrix as well. In order to avoid the tedious and difficult calibration work, a Kalman filtering-based estimation algorithm is proposed to estimate the composite image Jacobian or the homogeneous transformation matrix on-line, which can reduce the influence of noise. Using the estimated Jacobian matrix, a PD visual controller is used to make features converge to desired values with satisfactory dynamic performance, without a priori knowledge of the kinematic structure and system parameters. The proportional and differential gains are tuned using a genetic algorithm to obtain optimal controller parameters. A series of experiments are performed on peg and hole assembly to investigate the feasibility and effectiveness of this method. (c) 2007 Elsevier Inc. All rights reserved.
Publisher
Elsevier Science Inc
Issue Date
2008-07
Language
English
Article Type
Article
Citation

PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISIONENGINEERING AND NANOTECHNOLOGY, v.32, no.3, pp.173 - 181

ISSN
0141-6359
DOI
10.1016/j.precisioneng.2007.07.001
URI
http://hdl.handle.net/10203/88032
Appears in Collection
ME-Journal Papers(저널논문)
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