Direct Dynamic Visual Servoing at 1 kHz by Using the Product as One Dimensional Encoder

The research described in this paper focusses on direct dynamic visual servoing. A mechanical system is controlled on the basis of vision only. Therefore, with respect to the kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the intervention of low level joint controllers. The product in view inherently consist of a repetitive pattern, which is used as a one dimensional encoder purely on the basis of vision. In this article a 1 kHz direct visual servoing setup is created capable of using the repetitive pattern as a one dimensional encoder with an accuracy of 50 μm. The design is validated on an experimental setup.