DocumentCode
1870697
Title
Vision-based motion control of pneumatic group actuators
Author
Hirai, Shinichi ; Shimizu, Kiyoto ; Kawamura, Sadao
Author_Institution
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
Volume
3
fYear
2002
fDate
2002
Firstpage
2842
Lastpage
2847
Abstract
A vision-based approach to the motion control of pneumatic group actuators is presented. Sensing of plate locations consisting of the pneumatic group actuator is essential to cope with the variation of elastic tubes of the actuator. Plate locations are measured by a vision system and the motion of the actuator is controlled using a roughly identified relationship between air pressure imposed on individual tubes and the plate locations. Proposed motion control is evaluated experimentally
Keywords
actuators; computer vision; handicapped aids; kinematics; motion control; pneumatic control equipment; CCD camera; air pressure control; computer vision; kinematics; motion control; pneumatic group actuators; rehabilitation; silicon tubes; Electronics packaging; Humans; Machine vision; Mechanical systems; Motion control; Motion measurement; Pneumatic actuators; Pressure measurement; Prototypes; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013663
Filename
1013663
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