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Three-dimensional calibration of micromanipulators using stereo vision

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Three-dimensional calibration of micromanipulators using stereo vision. / Xiong, Yi; Hirvonen, Juha; Kallio, Pasi.

In: Journal of Micro-Bio Robotics, Vol. 8, No. 1, 2013, p. 13-24.

Research output: Contribution to journalArticleScientificpeer-review

Harvard

Xiong, Y, Hirvonen, J & Kallio, P 2013, 'Three-dimensional calibration of micromanipulators using stereo vision', Journal of Micro-Bio Robotics, vol. 8, no. 1, pp. 13-24. https://doi.org/10.1007/s12213-013-0061-9

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Author

Xiong, Yi ; Hirvonen, Juha ; Kallio, Pasi. / Three-dimensional calibration of micromanipulators using stereo vision. In: Journal of Micro-Bio Robotics. 2013 ; Vol. 8, No. 1. pp. 13-24.

Bibtex - Download

@article{0b026907723047c1b9b8de039e3d386d,
title = "Three-dimensional calibration of micromanipulators using stereo vision",
abstract = "Calibration is of great significance in the development of automatic micromanipulation systems. This paper presents a novel vision based procedure for three-dimensional (3D) calibration of micromanipulators. Two major issues in the proposed calibration approach - vision system calibration and manipulator kinematic calibration - are discussed in detail in this paper. Verification and evaluation experiments are conducted using a 3D micromanipulator in a microrobotic fiber characterization platform. Experimental results demonstrate that the proposed calibration approach is able to achieve prediction errors below 5 μm. The proposed approach also demonstrates the feasibility of calibrating the decoupled motions, by reducing the undesired movement from 28 μm to 8 μm (for 4800 μm desired movement).",
author = "Yi Xiong and Juha Hirvonen and Pasi Kallio",
note = "Contribution: organisation=ase,FACT1=1<br/>Portfolio EDEND: 2013-10-29<br/>Publisher name: Springer",
year = "2013",
doi = "10.1007/s12213-013-0061-9",
language = "English",
volume = "8",
pages = "13--24",
journal = "Journal of Micro-Bio Robotics",
issn = "2194-6418",
publisher = "Springer Science + Business Media",
number = "1",

}

RIS (suitable for import to EndNote) - Download

TY - JOUR

T1 - Three-dimensional calibration of micromanipulators using stereo vision

AU - Xiong, Yi

AU - Hirvonen, Juha

AU - Kallio, Pasi

N1 - Contribution: organisation=ase,FACT1=1<br/>Portfolio EDEND: 2013-10-29<br/>Publisher name: Springer

PY - 2013

Y1 - 2013

N2 - Calibration is of great significance in the development of automatic micromanipulation systems. This paper presents a novel vision based procedure for three-dimensional (3D) calibration of micromanipulators. Two major issues in the proposed calibration approach - vision system calibration and manipulator kinematic calibration - are discussed in detail in this paper. Verification and evaluation experiments are conducted using a 3D micromanipulator in a microrobotic fiber characterization platform. Experimental results demonstrate that the proposed calibration approach is able to achieve prediction errors below 5 μm. The proposed approach also demonstrates the feasibility of calibrating the decoupled motions, by reducing the undesired movement from 28 μm to 8 μm (for 4800 μm desired movement).

AB - Calibration is of great significance in the development of automatic micromanipulation systems. This paper presents a novel vision based procedure for three-dimensional (3D) calibration of micromanipulators. Two major issues in the proposed calibration approach - vision system calibration and manipulator kinematic calibration - are discussed in detail in this paper. Verification and evaluation experiments are conducted using a 3D micromanipulator in a microrobotic fiber characterization platform. Experimental results demonstrate that the proposed calibration approach is able to achieve prediction errors below 5 μm. The proposed approach also demonstrates the feasibility of calibrating the decoupled motions, by reducing the undesired movement from 28 μm to 8 μm (for 4800 μm desired movement).

U2 - 10.1007/s12213-013-0061-9

DO - 10.1007/s12213-013-0061-9

M3 - Article

VL - 8

SP - 13

EP - 24

JO - Journal of Micro-Bio Robotics

JF - Journal of Micro-Bio Robotics

SN - 2194-6418

IS - 1

ER -