Pattern-based vision for microrobotic manipulators calibration and servoing
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Pattern-based vision for microrobotic manipulators calibration and servoing |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Guelpa V, Sandoz P, Clevy C, Le Fort-Piat N, Laurent GJ |
| Conference Name | 2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) |
| Publisher | Korea Robot Soc; DMCCVES CIMTME; Xian Jiaotong Univ; Robot Ind Alliance Shaanxi Prov; Shaanxi Key Lab Intelligent Robot; Key Lab Educ Minist Modern Design & Rotor Bearing Syst; IEEE; IEEE Robot & Automat Soc; Robot Soc Taiwan; RECURDYN; Adv Technol Inc; C |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5090-0821-6 |
| Résumé | This paper presents recent results obtained with a visual method allowing absolute position measurements at nano-scale. Based on the direct phase analysis of pseudo-periodic patterns, this approach enabled fast measurements of position with large range-to-resolution ratios. Applications include microrobotic manipulators calibration and visual servoing but also microforce measurement by using a compliant structure. Rangeto-resolution ratio of 10(5) are typically overcome. For instance, the experiments have demonstrated a sub-nanometric resolution over a range of 168 mu m, as well as a resolution below 50 nN for a 50 mN range for force measurement. |