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Micro- assembly robot visual servo system to improve real-time control

Author: ShenZuo
Tutor: HuangXinHan
School: Huazhong University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Micro- assembly robot Microscopic visual servo Active contour model Real-time control OpenCV
CLC: TP242
Type: Master's thesis
Year: 2007
Downloads: 178
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Abstract


Micro- assembly robot is equipped with micro- robotic technology combined operation of the product, while the microscopic visual servo micro assembly robot is currently the primary means of control . In this paper, sub-millimeter micro assembly robot system development background , highlight the existing vision technology in which the application , focusing on the three-dimensional structure of micro-vision , tiny micro assembly environment, target detection and identification are discussed. In support of National 863 Program , this in-depth study of micro- assembly robot system and its key technologies. This paper studies the semi-automatic video object segmentation and tracking. On a widely studied and applied to image segmentation techniques - active contour model (Snake) on the basis of in-depth study , this paper proposes a new VSnake model , define its contours energy made ??two improvements. One of the contour so that more even distribution of the control points and , the other enhanced smoothness of the candidate contour . In this paper three models mentioned in the text were compared . Micromanipulator in microscopic image sequence space of the motion detection is the foundation to achieve its vision control . This paper constructs a coherent outline based on path prediction method , the proposed Snake algorithm is applied to the actual target micro- assembly process segmentation and contour extraction to obtain a more satisfactory result. It can not only simplify the Snake model initialization work, reducing the sensitivity of Snake on the initial position , but also in a relatively short period of time to converge to the global minimum energy . In the end of this article describes the vision library OpenCV , and focus on the OpenCV CamShift video tracking algorithm for in-depth discussion . This all image processing algorithms are implemented using OpenCV .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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