Vision Alignment Mechanism for Feedback Control in Robotic Additive Manufacturing with Limited Degrees of Freedom

A vision-based control system is developed to adjust the width and height of the extruded filaments in robotic AM with two independent PID controllers. The code also includes camera adjustments by the vision alignment mechanism to align the camera's field of view with the direction of the toolpath in nonlinear toolpaths. camera.py interacts with the Intel RealSense D405 Camera.feedback.py performs real-time feedback control.gcode_mods.py modifies the G-code commands as an adjustment output of the feedback control system. The input file is a standard SCARA G-code, and the output is a discretized G-code.image_module.py is the image-processing module. The video.mp4 file demonstrates the utilization of the vision alignment mechanism in an orthogonal path.