Laser Beam Steering Along 3D Paths
Résumé
This paper deals with the development of a vision- based control scheme for 3D laser steering. It proposes to incorporate a simplified trifocal constraint inside a path following scheme in order to ensure intuitively a 3D control of laser spot displacements in unknown environment (target). The described controller is obtained without complex mathematical formulation nor matrix inversion as it requires only weak camera and hand- eye calibration.
The developed control law was validated in both simulation and experimental conditions using various scenarios (e.g., static and deformable 3D scenes, different control gains, initial ve- locities, etc.). The obtained results exhibit good accuracy and robustness with respect to the calibration and measurement errors and scene variations. In addition, with this kind of laser beam steering controller, it becomes possible to perfectly decouple the laser spot velocity from both the path shape and time. These features can fit several industrial applications (welding, micromachining, etc.) as well as surgical purposes (e.g., laser surgery) requirements.
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