This investigation focuses on servoing a robot's tool with respect to a smooth workpiece surface by making use of the surface's characteristic local differential properties. A novel formulation for 6 degree-of-freedom (DoF) textureless visual servoing based on these properties is proposed, which extends an existing 3-DoF scheme. Our approach naturally combines the geometric tools of computer-aided design and machining (CAD/CAM) theory with the manipulator control tools of visual servoing synergistically to achieve full 6-DoF pose control. A novel family of observed feature sets and their associated interaction matrices are presented. A geometric condition on the surface shape is derived under which local asymptotic stability for 6-DoF is guaranteed. Validation of the proposed method is performed in simulation and experiment using an articulated desktop robot equipped with only a monocular camera and 16 laser pointers.

中文翻译：

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基于视觉的无纹理光滑表面机器人遍历

这项研究的重点是通过利用表面的特征局部微分特性，相对于光滑的工件表面对机器人的工具进行伺服。提出了一种基于这些特性的 6 自由度 (DoF) 无纹理视觉伺服的新公式，它扩展了现有的 3-DoF 方案。我们的方法自然地将计算机辅助设计和加工 (CAD/CAM) 理论的几何工具与视觉伺服的机械手控制工具相结合，以实现完整的 6-DoF 姿态控制。提出了一系列观察到的特征集及其相关的交互矩阵。导出了表面形状的几何条件，在该条件下，6-DoF 的局部渐近稳定性得到保证。