A vision-based endpoint trajectory and vibration control for flexible manipulators

Xin Jiang, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    14 Citations (Scopus)

    Abstract

    This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.

    Original languageEnglish
    Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
    Pages3427-3432
    Number of pages6
    DOIs
    Publication statusPublished - 2007 Nov 27
    Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
    Duration: 2007 Apr 102007 Apr 14

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
    Country/TerritoryItaly
    CityRome
    Period07/4/1007/4/14

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

    Fingerprint

    Dive into the research topics of 'A vision-based endpoint trajectory and vibration control for flexible manipulators'. Together they form a unique fingerprint.

    Cite this