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Positioning and Trajectory Following Tasks in Microsystems Using Model Free Visual Servoing
Authors: E. Ozgur, M. Unel
Published in: Proceedings of IEEE International Conference on Industrial Electronics, (IECON 2007)
Publication year: 2007
Abstract: In this paper, we explore model free visual servoing algorithms by experimentally evaluating their performances for various tasks performed on a microassembly workstation developed in our lab. Model free or so called uncalibrated visual servoing does not need the system calibration (microscopecamera-micromanipulator) and the model of the observed scene. It is robust to parameter changes and disturbances. We tested its performance in point-to-point positioning and various trajectory following tasks. Experimental results validate the utility of model free visual servoing in microassembly tasks.

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