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Information Technology Journal

Year: 2008 | Volume: 7 | Issue: 3 | Page No.: 497-503
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Authors

Xiangjin Zeng

Xinhan Huang

Min Wang

Keywords

Research Article

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

Xiangjin Zeng, Xinhan Huang and Min Wang
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.
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