Vision System for Micromanipulation | Zendy

Yousuke Katoh | Zendy; Tatsuo Arai | Zendy; Kenji Inoue | Zendy; Yasushi Mae | Zendy; Tamio Tanikawa | Zendy

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Vision System for Micromanipulation

Author(s) -

Yousuke Katoh,

Tatsuo Arai,

Kenji Inoue,

Yasushi Mae,

Tamio Tanikawa

Publication year - 2002

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2002.p0203

Subject(s) - computer vision , tracking (education) , microscope , artificial intelligence , workspace , brightness , computer science , mechanism (biology) , sizing , cardinal point , optics , physics , robot , psychology , visual arts , art , pedagogy , quantum mechanics

Recently, in connection with down-sizing of manipulated objects in fields such as biology and medical treatment, the establishment of dexterous micromanipulation is crucial. Dexterous micro manipulation using a two finger microhand with 12-DOF and an optical microscope has been developed for applications such as assembling micromachines and manipulating cells and microbes. Basic experiments showed two problems, a more compact hand mechanism fit in the limited microscope workspace and less focusing work for an operator. A 3-DOF parallel mechanism is designed for a new finger module. To decrease focusing during manipulation, an autofocusing and tracking mechanism is developed using microscope image data. The focusing algorithm uses color and brightness to make tracking smooth. Experiments include tracking a moving object and recognizing and localizing a target in a focal plane.

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