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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026048510-A1, on 19 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002691

Automatic end effector tip position initialization mechanism for micromanipulation system

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
LONG YUN, WANG TIEXIN, Weng Tianle, YANG LIANGJING
Assignee
UNIV ZHEJIANG
Original source
US-2026048510-A1, the United States Patent and Trademark Office, 19 February 2026
Document SHA-256
0c3d922a2f14425d21cbabe7a351931c38c0fcacd51ad536ddc00e114c6e6bbc

Abstract

An automatic end effector tip position initialization mechanism for a micromanipulation system is provided. The method includes: S 1 , positioning a macro end effector tip, calculating a camera pose by using ArUco Tag, and realizing a three-dimensional positioning of the end effector tip by using a triangulation method, and moving the end effector to a area near a center of a focal plane based on a visual servo; S 2 , positioning a micro end effector tip; S 3 , acquiring calibration data based on a visual servo, calibrating the end effector tip and the petri dish, and obtaining a left calibration matrix and a right calibration matrix reflecting the transformation relationship between left and right micromanipulator coordinates and image coordinates; generating an intuitive human-computer interaction interface based on a mouse and a keyboard according to acquired position information. The method has obvious advantages in terms of operation accuracy, operation efficiency and repeatability.

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Citation

OpenTechnical Publication OT-2026-000002691, “Automatic end effector tip position initialization mechanism for micromanipulation system,” published September 15, 2026 at 19:14:42 UTC, https://opentechnical.org/p/OT-2026-000002691.

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