Research Article
Micro-Assembly of Micro Parts Using Uncalibrated Microscopes Visual Servoing Method

Xiangjin Zeng, Xinhan Huang and Min Wang

Information Technology Journal, 2008, 7(3), 497-503.

Abstract

In micromanipulation, the microscope vision servoing can achieve a high performance. In order to avoid the complicated calibration of intrinsic parameter of camera, We apply an improved broyden`s method to estimate the image jacobian matrix on line, which employs Chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Using the estimated jacobian matrix, a PD visual controller is used to make features converge to desired values with satisfactory dynamic performance. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed method is effective and feasible.

ASCI-ID: 28-49

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