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Article Dans Une Revue IEEE Transactions on Robotics Année : 2015

Decoupling Path Following and Velocity Profile in Vision-guided Laser Steering.

Résumé

Laser surgery requires accurate following of a path defined by the surgeon, while the velocity on this path is dependent on the laser-tissue interaction. Therefore, path following and velocity profile control must be decoupled. In this paper, non-holonomic control of the unicycle model is used to implement velocity-independent visual path following for laser surgery. The proposed controller was tested, in simulation as well as experimentally in several conditions of use: different initial velocities (step input, successive step inputs, sinusoidal inputs), optimized/non-optimized gains, time-varying path (simulating a patient breathing), and complex curves with curvatures. Thereby, experiments at 587 Hz (frames/second) show an average accuracy lower than 0.22 pixels (_ 10μm) with a standard deviation of 0.55 pixels (_ 25μm) path following, and a relative velocity distortion of less than 10 6 %.
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Dates et versions

hal-01303382 , version 1 (18-04-2016)

Identifiants

  • HAL Id : hal-01303382 , version 1

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Jean-Antoine Seon, Brahim Tamadazte, Nicolas Andreff. Decoupling Path Following and Velocity Profile in Vision-guided Laser Steering.. IEEE Transactions on Robotics, 2015, 31 (2), pp.280-289. ⟨hal-01303382⟩
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