Three-dimensional positioning control based on stereo microscopic visual servoing system

A stereo microscopic system as a high-precision visual feedback is widely used in the fields of micro- three-dimensional (3-D) measurement and micromanipulation tasks. A new stereo binocular visual servoing model based on a Greenough-type stereoscopic light microscope to solve the 3-D micropositioning problem is proposed. The new model contains no depth information, but the information at the left and right images is used to obtain the image Jacobian matrix. Visual information can be directly obtained from the 3-D space without measuring or estimating the depth information of the unknown points of the object via this new model. The new model can not only accurately and rapidly realize automatic control for a micromanipulation system, but also improve the system control performance. We design an image-based controller with consideration of the kinematics characteristics of a microrobot. Experimental results verify the validity of