A three-dimensional (3D)-virtual calibration and visual servo are implemented for augmented reality (AR)-assisted peg-in-hole microassembly operations. By employing 3D model and ray casting, the 3D coordinates on virtual mating rod correspondent to the two-dimensional (2D) virtual image points are extracted. The detecting and tracking of image feature points for calibration is carried out by the proposed algorithm of regional template matching (TM) and scanning with edge fitting (RTM-SEF). For achieving subpixel error between the feature points in real and virtual images, a coarse-fine virtual calibration method is proposed. In regard to the image viewed by the real and virtual cameras, a calibrated virtual camera is utilized to track the mating rod. A visual servo control law including coarse and fine tuning is proposed to ensure sub-pixel error between the most important feature point in the real and virtual images. The AR technology is mainly employed in the alignment between micropeg and mating hole for inserting a micropeg of diameter 80 μm with length 1–1.4 mm into a mating rod with 100 μm hole.
Model-Based Coarse-Fine Virtual Calibration and Visual Servo for Augmented Reality-Assisted Peg-in-Hole Microassembly
National Cheng Kung University,
Tainan 701, Taiwan, China
Contributed by the Manufacturing Engineering Division of ASME for publication in the JOURNAL OF MICRO-AND NANO-MANUFACTURING. Manuscript received May 25, 2018; final manuscript received September 16, 2018; published online October 16, 2018. Assoc. Editor: Marriner Merrill.
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Chang, R., and Liu, J. (October 16, 2018). "Model-Based Coarse-Fine Virtual Calibration and Visual Servo for Augmented Reality-Assisted Peg-in-Hole Microassembly." ASME. J. Micro Nano-Manuf. December 2018; 6(4): 041002. https://doi.org/10.1115/1.4041531
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