{
  "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.",
  "assignees": [
    "UNIV ZHEJIANG"
  ],
  "authors": [
    "LONG YUN",
    "WANG TIEXIN",
    "Weng Tianle",
    "YANG LIANGJING"
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  "title": "Automatic end effector tip position initialization mechanism for micromanipulation system",
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