Visual sensor based vibration control and end-effector control for flexible robot arms

Author

Jiang, Zhao-Hui ; Goto, Akihiro

Author_Institution

Dept. of Mech. Syst. Eng., Hiroshima Inst. of Technol., Japan

fYear

2005

fDate

14-17 Dec. 2005

Firstpage

383

Lastpage

388

Abstract

This paper addresses the issue of measurement and control of robot arms with link flexibility. A measurement system for link flexural deflection and end-effector position sensing using CCD camera and video tracker is presented. Based on the measurement system, both link vibration suppressing control scheme and end-effector trajectory tracking control scheme are designed. Experiments for link vibration control and end-effector trajectory tracking control are carried out on a 2 link flexible robot system as the test bed. The results confirm effectiveness and usefulness of the proposed measurement method and control systems.

Keywords

CCD image sensors; end effectors; flexible manipulators; path planning; position control; robot vision; vibration control; CCD camera; end-effector position sensing; flexible robot arms; link flexibility; link flexural deflection; link vibration control; measurement system; test bed; trajectory tracking control; vibration suppressing control scheme; video tracker; visual sensor; Charge coupled devices; Control systems; Manipulators; Position measurement; Robot control; Robot sensing systems; Robot vision systems; Trajectory; Vibration control; Vibration measurement; end-effector control; flexible robot manipulator; vibration suppressing; visual sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2005. ICIT 2005. IEEE International Conference on

Print_ISBN

0-7803-9484-4

Type

conf

DOI

10.1109/ICIT.2005.1600668

Filename

1600668