Contribution of visual servoing techniques to robotics deburring

Eve Coste-Maniere; Marie Gatenholm

doi:10.1117/12.150212

6 August 1993 Contribution of visual servoing techniques to robotics deburring

Eve Coste-Maniere, Marie Gatenholm

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150212
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

An original approach to robotic deburring is presented here. It advocates the use of visual servoing as a preliminary step to the classic deburring process in the force control framework. The contour following task using a hand-eye robotic system is described from a theoretical point of view. The motion of the contour relative to the camera sensor is estimated in real-time by processing the measured optical flow of a set of relevant feature points. The desired motion of the end-effector is computed with the objective of keeping the visual features always at the same target location in the image plane. The task-function approach to robot control is used to address control issues. The careful study of experimental results carried out on an industrial part for heavy vehicles validates our approach and suggests many directions for further investigations.

Citation Download Citation

Eve Coste-Maniere and Marie Gatenholm "Contribution of visual servoing techniques to robotics deburring", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150212

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