A Research of Image-Based Visual Control in Microassembly under a Microscope

A new visual servo control system under microscope was introduced based on the research of image-based computer visual control system, including the installation and calibration of camera, deduction of the image Jacobian and the algorithm of controlling and so on. The experiments of motion controlling and positioning showed that one pixel about 2.97μm can be reached easily in single axes under 5× eyepiece and under the same condition a 400μm micro shaft was assembled into a micro-gear with 415μm inner bore. Knowing from the control algorithm, the accuracy of the system is independent on errors in the robot kinematics or the camera calibration. The research results indicate that this method is a full closed-loop visual servo control system with a high reliability and simple control algorithm and it can be used in microassembly system.