Global vision system of miniature mobile robot for precision manipulation

The global vision system supervises the robot's workspace to detect the position and orientation of the robot, then navigates robot's micro griper into the field of microscopic vision completing MEMS parts assembly. Using RAC (radial alignment constrain) camera mode, in which radial aberration is considered to minish the effect leading by large field of the vision, does calibration of global vision system. To easily locate the robot in the camera image, three LEDs which forming a right-angled triangle are mounted on the top of robot. Before the robot starts motion, the robot is located initially, which provides initial data for robot tracking. After initialize location, the robot starts moving to assembly stage. To meeting the requirements, for real-time tracking, data association principle is implemented. In order to navigate micro griper of the robot entering the field of microscopic view, visual servoing is realized in dynamic look and move mode. Which solves the problems of deflection of the robot, non-zero radius rotation of the robot and switching between Marco and Micro motion of the robot. With the global vision system the robot can be controlled with accuracy about 0.5mm, this is sufficient to navigate robot's micro griper into the field of view of the microscopic sensor.