Trajectory Generation for 1000 fps Direct Visual Servoing

This paper presents a trajectory generation method by using a repetitive product pattern as visual encoder for control feedback. A direct, high-speed coupling between camera measurements and local motor control motivates the omission of local motor encoders. By exploiting the repetitive structure of the product and sampling at a high update rate (i.e., 1000 fps), a velocityconstraint polynomial trajectory is designed for imagebased velocity feedback. We present algorithms for image processing and trajectory generation with a frame rate of 1000 fps and an image size of 619× 75 pixels.