Robotic visual servoing using fringe projection profilometry

Jing Xu; Gang Rao; Zhe Chen

doi:10.1117/12.2500629

7 November 2018 Robotic visual servoing using fringe projection profilometry

Jing Xu, Gang Rao, Zhe Chen

Proceedings Volume 10819, Optical Metrology and Inspection for Industrial Applications V; 108190Q (2018) https://doi.org/10.1117/12.2500629
Event: SPIE/COS Photonics Asia, 2018, Beijing, China

Abstract

To solve problems including the surface distortion and profile error cannot be considered in robotic off-line programming, and the object parts are often texture-less or even without contour, we propose a new visual servo control method directly using the phase map as the visual features. The high accuracy of phase map ensures the high accuracy of positioning or target tracking tasks. Every entry of the phase map is used as visual features so no complex image processing and feature extracting and matching are needed. The corresponding interaction matrix is deduced and control law is constructed. The validity of the proposed method is proved by simulation.

Citation Download Citation

Jing Xu, Gang Rao, and Zhe Chen "Robotic visual servoing using fringe projection profilometry", Proc. SPIE 10819, Optical Metrology and Inspection for Industrial Applications V, 108190Q (7 November 2018); https://doi.org/10.1117/12.2500629

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