基于多路显微视觉的微零件自动对准策略  

An Automatic Alignment Strategy of Micro Parts Based on Microscope Vision Systems

作　　者：张娟[1] 徐德[1] 张正涛[1] 罗李焱[1] 

机构地区：[1]中国科学院自动化研究所,北京100190

出　　处：《机器人》2014年第1期69-75,共7页Robot

基　　金：国家自然科学基金资助项目(61105036;61227804)

摘　　要：基于对显微视觉系统成像特点的分析,针对搭建的微装配实验平台,提出了一种基于三路显微视觉的微零件自动对准策略,实现了毫米级复杂几何结构微零件的自动对准.基于显微视觉成像模型,推导了基于多路显微视觉的微零件运动控制的图像雅可比矩阵,证明了显微视觉引导下位置控制的图像雅可比矩阵为常数,并通过微零件的主动运动,实现了对图像雅可比矩阵的在线自标定.采用增量式PI(比例-积分)控制方式实现了对微零件快速有效的运动控制.实验结果验证了所提方法的有效性.Based on character analysis of microscope vision system, an alignment strategy based on the micro-assembly experimental platform composed of three microscope vision systems is proposed, which achieves the automatic alignment of the millimeter sized complex micro parts. The image Jacobian matrix based on several microscope vision systems controlling the micro part movement is derived based on microscope vision model. It is proved that the image Jacobian matrix is a constant when controlling position movement in microscope vision guidance. As active movement of the micro part, online self-calibration of the image Jacobian matrix is completed. The incremental PI （proportional-integral） controller is adopted to control the micro part movement quickly and effectively. The experiment verifies the effectiveness of the proposed algorithm.

关 键 词：图像雅可比矩阵 视觉伺服 位姿对准 显微视觉 微装配 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]