<title>Contribution of visual servoing techniques to robotics deburring</title>

摘要

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.© (1993) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.