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

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.