Abstract
To ensure high uniformity of the inner space of the hollow sphere after assembly, the glass tube must be inserted into the hole on the sphere towards the center of the sphere. This paper deals with the pose measuring of the hole on the sphere and the glass tube and pose aligning of the two objects. The sphere is 500 mm in diameter with a 20 mm hole on it, and the glass tube is 17 mm in diameter. Novel pose measuring method for the hole on the sphere and the glass tube is developed, using two microscopic cameras, each one acquires a projection vector of the object to be measured. A plane containing the optical axis of the microscopic camera and the pose vector of the object is determined, with the microscopic camera calibrated in advance. Pose vector of the object to be measured can be calculated by the intersection of the two planes acquired by the two microscopic cameras. Error analysis of the pose measuring method is conducted and experimental results were consistent with analytical results. Less than 0.7° pose aligning error is achieved using the proposed pose measuring method and pose aligning method.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
Abbreviations
- MRcL :
-
rotary matrix between microscopic camera L coordinates and manipulator coordinates
- MRcR :
-
rotary matrix between microscopic camera R coordinates and manipulator coordinates
- kxL, kyL, kxR, kyR :
-
pixel scale factors of microscopic camera L and microscopic camera R
- θx :
-
adjusting angle around x axis
- θy :
-
adjusting angle around y axis
- AO1 :
-
pose vector of the hole on the sphere
- BA1 :
-
pose vector of the glass tube
- VzL :
-
optical axis of microscopic camera L
- nHL :
-
normal vector of the plane containing pose vector of the hole on the sphere and optical axis of microscopic camera L
- nTL :
-
normal vector of the plane containing pose vector of the glass tube and optical axis of microscopic camera L
- VzR, nHR, nTR :
-
same meaning with V zL , n HL , n TL , but of microscopic camera R
References
Das, A. N., Zhang, P., Lee, W. H., Popa, D., and Stephanou, H., “μ 3: Multiscale, Deterministic Micro-Nano Assembly System for Construction of On-Wafer Microrobots,” Proc. of IEEE International Conference on Robotics and Automation, pp. 461–466, 2007.
Wang, L., Mills, J. K., and Cleghorn, W. L., “Automatic Microassembly Using Visual Servo Control,” IEEE Transactions on Electronics Packaging Manufacturing, Vol. 31, No. 4, pp. 316–325, 2008.
Wang, L., Ren, L., Mills, J. K., and Cleghorn, W. L., “Automated 3-D Micrograsping Tasks Performed by Vision-based Control,” IEEE Transactions on Automation Science and Engineering,, Vol. 7, No. 3, pp. 417–426, 2010.
Tamadazte, B., Dembélé, S., Fortier, G., and Fort-Piat, L., “Automatic Micromanipulation Using Multiscale Visual Servoing,” Proc.of IEEE International Conference on Automation Science and Engineering, pp. 977–982, 2008.
Zeng, X., Huang, X., and Wang, M., “Micro-Assembly of Micro Parts using Uncalibrated Microscopes Visual Servoing Method,” Information Technology Journal, Vol. 7, No. 3, pp. 497–503, 2008.
Borchert, G., Burisch, A., and Raatz, A., “Apis-A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors,” Int. J. Precis. Eng. Manuf., Vol. 12, No. 4, pp. 629–634, 2011.
Kim, M. G., Hong, Y. S., and Lim, E. J., “Position and Orientation Detection of Capsule Endoscopes in Spiral Motion,” Int. J. Precis. Eng. Manuf., Vol. 11, No. 1, pp. 31–37, 2010.
Yun-feng, Z., Gan-lin, S., and Bing, J., “A Dynamic-Template-Library based Method to Measure the Pose of Maneuvering Target,” Proc. of 4th IEEE Conference on Industrial Electronics and Applications, pp. 2080–2084, 2009.
Xu, W., Xue, Q., Liu, H., Du, X., and Liang, B., “A Pose Measurement Method of a Non-Cooperative Geo Spacecraft based on Stereo Vision,” Proc. of 12th International Conference on Control Automation Robotics & Vision, pp. 966–971, 2012.
Assa, A. and Janabi-Sharifi, F., “A Robust Vision-based Sensor Fusion Approach for Real-Time Pose Estimation,” IEEE Transactions on Cybernetics, Vol. 44, No. 2, pp. 217–227, 2014.
Kyriakoulis, N. and Gasteratos, A., “Color-based Monocular Visuoinertial 3-D Pose Estimation of a Volant Robot,” IEEE Transactions on Instrumentation and Measurement, Vol. 59, No. 10, pp. 2706–2715, 2010.
Katsuki, R., Ota, J., Mizuta, T., Kito, T., Arai, T., et al., “Design of an Artificial Mark to Determine 3D Pose by Monocular Vision,” Proc. of IEEE International Conference on Robotics and Automation, Vol. 1, pp. 995–1000, 2003.
Okafor, A. C. and Ertekin, Y. M., “Vertical Machining Center Accuracy Characterization using Laser Interferometer: Part 2. Angular Errors,” Journal of Materials Processing Technology, Vol. 105, No. 3, pp. 407–420, 2000.
Zhang, Y. N., Chen, X., Song, W., and Shen, L. Y., “Visual Measurement of Micro-Target Pose in ICF Experiment,” Proc. of IEEE International Conference on Computer Science and Automation Engineering, Vol. 1, pp. 102–106, 2012.
Wang, L., Mills, J. K., and Cleghorn, W. L., “Assembly of Three-Dimensional Microsystems Using a Hybrid Manipulation Strategy,” Proc. of IEEE International Conference on Mechatronics and Automation, pp. 545–550, 2008.
Li, F., Xu, D., Shi, Y., and Zhang, Z., “Motion-based Microscopic Camera Calibration and Application on Micro Tube-Hole Insertion,” Optical Engineering, Vol. 53, No. 5, Paper No. 053103, 2014.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Li, FD., Xu, D., Zhang, ZT. et al. Pose measuring and aligning of a micro glass tube and a hole on the micro sphere. Int. J. Precis. Eng. Manuf. 15, 2483–2491 (2014). https://doi.org/10.1007/s12541-014-0618-0
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-014-0618-0