{"title":"Vision based 3D calibration of micromanipulator in microrobotic fiber characterization platform","authors":"Yikun Xiong, M. von Essen, J. Hirvonen, P. Kallio","doi":"10.1109/3M-NANO.2012.6472968","DOIUrl":null,"url":null,"abstract":"Calibration is of great significance in the development of automatic micromanipulation systems. This paper presents a novel vision based procedure for three dimensional (3D) calibration of micromanipulators. Two major issues in the proposed calibration approach - vision system calibration and manipulator kinematic calibration - are discussed in details in this paper. Verification and evaluation experiments are conducted using a 3D micromanipulator in a microrobotic fiber characterization platform. The results demonstrate that the proposed calibration approach is able to reduce the pose error below 5 micrometers.","PeriodicalId":134364,"journal":{"name":"2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/3M-NANO.2012.6472968","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Calibration is of great significance in the development of automatic micromanipulation systems. This paper presents a novel vision based procedure for three dimensional (3D) calibration of micromanipulators. Two major issues in the proposed calibration approach - vision system calibration and manipulator kinematic calibration - are discussed in details in this paper. Verification and evaluation experiments are conducted using a 3D micromanipulator in a microrobotic fiber characterization platform. The results demonstrate that the proposed calibration approach is able to reduce the pose error below 5 micrometers.
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