OPENTECHNICAL PUBLICATION
OT-2026-000002691

Automatic end effector tip position initialization mechanism for micromanipulation system

Published: 2026-09-15T19:14:42.177646Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002691
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000002691
Published 2026-09-15T19:14:42.177646Z
https://opentechnical.org/p/OT-2026-000002691