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

Xin Jiang, Yosuke Yabe, Atsushi Konno, Masaru Uchiyama

    研究成果: Conference contribution

    12 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    ページ3783-3788
    ページ数6
    DOI
    出版ステータスPublished - 2008 12月 1
    イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
    継続期間: 2008 9月 222008 9月 26

    Other

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

    ASJC Scopus subject areas

    • 人工知能
    • コンピュータ ビジョンおよびパターン認識
    • 制御およびシステム工学
    • 電子工学および電気工学

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