---
publication_id: "OT-2026-000002691"
title: "Automatic end effector tip position initialization mechanism for micromanipulation system"
published_at: "2026-09-15T19:14:42.177646Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002691"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/089"
  - "b25j9/1692"
  - "b25j9/1692"
  - "g02b21/365"
  - "b25j13/08"
  - "b25j13/089"
---

# Automatic end effector tip position initialization mechanism for micromanipulation system

## 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.