Automated calibration for micro hand using visual information

An automated calibration for micro-hand is proposed to obtain high quality micromanipulation system. The calibration is based on automatic focusing of micro-object and its position detection in the microscope frame using microscope images. The automatic focusing works well even in the tracking of moving target using chromatic aberration. The finger position can be detected automatically by integrating focusing and identification of the micro-hand finger wherever it is in the microscope view. These automated processes are implemented in the actual system. The experiment shows the system can attain around 2[/spl mu/m] in absolute positioning accuracy.

Authors

• Tatsuo Arai
• Akihiro Suzuki
• Yousuke Kato
• Yasushi Mae
• Kenji Inoue
• Tamio Tanikawa

Keywords

• Calibration
• Focusing
• Transmission electron microscopy
• Fingers
• Robotics and automation
• Robotic assembly
• Optical microscopy
• Humans
• Computer vision
• Micromotors
• Linear Model
• Image Processing
• Kinematic
• Objective Lens
• Focal Plane
• Target Object
• Jacobian Matrix
• Local Vector
• Calibration Process
• Focal Position
• Color Information
• Previous Position
• Template Matching
• Cumulative Values
• Parallel Mechanism
• Sobel Operator
• Exactive Focus