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Communication Dans Un Congrès Année : 2014

6-DoF automatic micropositioning using photometric information

Résumé

In this paper, an approach for 6-DoF automatic micropositioning is presented. It involves a closed-loop visual servoing scheme in order to achieve eye-to-hand positioning task in micro-scale. Instead of using classical visual features in the servoing scheme, pure image photometric information from the vision sensor is employed to compute the control law for micropositioning. The approach is validated in simulation as well as experimentally on a parallel positioning stage and a digital microscope at low magnification. Experimental results show the accuracy and efficiency of this control scheme.
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Dates et versions

hal-00997315 , version 1 (27-05-2014)

Identifiants

  • HAL Id : hal-00997315 , version 1

Citer

Le Cui, Eric Marchand, Sinan Haliyo, Stéphane Régnier. 6-DoF automatic micropositioning using photometric information. IEEE/ASME Int Conf. on Advanced Intelligent Mechatronics, AIM'14, Jul 2014, Besancon, France. pp.918-923. ⟨hal-00997315⟩
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