Visual Servoing-based Autonomous 3-D Micro-Manipulation of Micro-parts

摘要：

For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough sets discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broydens method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

关键词： micro-assembly support vector machine multi parts identification broyden method visual servoing

作者: Xinhan Huang Xiangjin Zeng Zuyu Wu Min Wang

作者单位: Department of Control Science and Engineering Huazhong University of Science & Technology Wuhan, Hubei Province, China

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-7

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）