High Speed Visual Motion Control Applied to Products With Repetitive Structures


This paper focusses on direct dynamic visual servoing at high sampling rates in machines used for the production of product that include equal options placed in an exceedingly repetitive pattern. The word “direct” means that the system at hand is controlled on the idea of vision only. Additional specifically, the motor inputs are driven directly by a vision-based mostly controller without the intervention of low level joint controllers. The product in view consists of a repetitive pattern, that is employed as an encoder purely on the basis of vision. The thought-about motion task is to position the repetitive structure in order to align the tool with respect to the options. The vision primarily based controller is intended using classical loop shaping techniques. Robustness with respect to imperfections of the repetitiveness is investigated. The combination of fast image processing and a Kalman-filter-based mostly predictor leads to a one kHz visual servoing setup capable of exploiting the repetitive pattern as an encoder with an accuracy of two $mu$m. The design approach is validated on an experimental setup.

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