학술논문

Calibration and validation of XYΘ micropositioners with vision
Document Type
Conference
Source
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on. :256-261 Jul, 2012
Subject
Components, Circuits, Devices and Systems
Fields, Waves and Electromagnetics
Communication, Networking and Broadcast Technologies
Computing and Processing
Calibration
Robot kinematics
Radio frequency
Kinematics
Accuracy
Sensors
Language
ISSN
2159-6247
2159-6255
Abstract
Accuracy is very important criterion for micromanipulation systems, especially for microassembly. In this paper, we propose a full procedure of kinematic calibration and validation for XYΘ micropositioners, which are used as coarse positioning in our microassembly platform. Based on vision, two methods (self-calibration and classical calibration) are presented, implemented, tested and compared. The differential evolution (DE) algorithm is applied to identify the kinematic parameters. After calibrations, we perform tests of accuracy and repeatability through controlling the micropositioners via inverse kinematics.