Microassembly of peg and hole using active zooming

摘要

Visual servoing technique used in microassembly limits its application, due to the two inherent problems, small depth of focus and small field of view. To avoid this criticism, in this paper, we present a method of microassembly using active zooming, which can solve these problems. In order to solve the problem of small field of view, the method using active zooming that can prevent the target out of field of view is proposed. In order to solve the problem of the small depth of focus, we proposed a method to control the zooming lens based on the blur measure of the moving target to get the clear image in the field of view. In this paper, we use affine transformation of feature line to track the object. The proposed microassembly process consists coarse visual servoing and fine visual servoing. A series of experiments are performed on peg and hole assembly to investigate the feasibility of this method.