• DocumentCode
    2653892
  • Title

    Suspended ball tracking using robot manipulator

  • Author

    Coelen, V. ; Merzouki, R. ; Lartigau, E.

  • Author_Institution
    Centre Oscar Lambret of Lille, Lille, France
  • fYear
    2010
  • fDate
    14-18 Dec. 2010
  • Firstpage
    1549
  • Lastpage
    1554
  • Abstract
    In this paper, a model-based trajectory anticipation of suspended ball is presented, in order to anticipate the tracking control of a robot manipulator. This technique based on the on-line vision model identification, allowing the optimal synchronisation of the robot and ball movements. Experimental results show the performance of the proposed approach, when the ball dynamic is well known.
  • Keywords
    industrial manipulators; position control; robot vision; synchronisation; model based trajectory anticipation; online vision model; optimal synchronisation; robot manipulator; suspended ball tracking; tracking control; Adaptation model; Cameras; Delay; Mathematical model; Service robots; Trajectory; Model-based trajectory anticipation; robot manipulator; vision tracking;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
  • Conference_Location
    Tianjin
  • Print_ISBN
    978-1-4244-9319-7
  • Type

    conf

  • DOI
    10.1109/ROBIO.2010.5723560
  • Filename
    5723560
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2653892