Title :
Suspended ball tracking using robot manipulator
Author :
Coelen, V. ; Merzouki, R. ; Lartigau, E.
Author_Institution :
Centre Oscar Lambret of Lille, Lille, France
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723560
