Vibration suppression control of a flexible arm using image features of unknown objects

Xin Jiang, Yosuke Yabe, Atsushi Konno, Masaru Uchiyama

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

    11 Citations (Scopus)

    Abstract

    In this paper, a vision-based vibration control approach is proposed to deal with the vibration appearing at the end-point of a flexible-link manipulator. It is achieved by utilizing the information obtained from end-effector camera. Particularly, the image features necessary for this approach are not specified to those obtained from assumed objects like artificial markers. This property enables the approach to be applied in a completely unknown environment. In that case, end-effector camera automatically collects the visual information needed for vibration damping. This paper shows feasibility of this strategy.

    Original languageEnglish
    Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    Pages3783-3788
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Dec 1
    Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
    Duration: 2008 Sep 222008 Sep 26

    Other

    Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    CountryFrance
    CityNice
    Period08/9/2208/9/26

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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