3D Micropositioning Control Based on Stereo Microscopic Visual Servoing System

摘要

In this paper, the global visual servoing micropositioning control method is analyzed and the imaging model is derived based on the CMO type stereo light microscopes (SLM). The model contains no depth information and the left and right image information is used to obtain the image Jacobian matrix. Considering the kinematics characteristics of micro robot, we design an image-based controller. The experimental and simulation results based on the four degree-of-freedom (DOF) microrobot system demonstrate the validity of the theory in this paper.