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Development of autonomous laser toning system based on vision recognition and robot manipulator

In this paper, the design, implementation, and operation method of the autonomous laser toning system are proposed, which is called as MELON (Manipulator for Effective Laser tONing). The system can recognize the accurate treatment points from the 3D point cloud data obtained with the camera, and it is possible to emit the laser at the desired position and orientation repeatedly, precisely, and accurately using intuitive differential inverse kinematics of the robot manipulator. The feasibility test of the MELON is conducted by using a plaster cast of a woman's head, and then, we find that the manipulator has a workspace to cover the entire face of the human inductively and distribution of the laser emission is homogeneous on the face. Therefore, we find the possibility of the autonomous laser toning using MELON.