Title :
Flexible rope manipulation by dual manipulator system using vision sensor
Author :
Matsuno, Takayuki ; Fukuda, Toshio ; Arai, Fumihito
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
In this paper, we propose a method of the parameter identification of flexible object. We proposed the method to recognize the shape of the rope by using model of the flexible object and visual information. However, in this method, accurate recognition and compensation using the visual information are not possible, when the flexural rigidity of model is greatly different from that of the actual rope. Here, we propose the identification method of the rigidity coefficient of object with experiment results
Keywords :
compensation; flexible structures; image recognition; manipulators; materials handling; multi-robot systems; parameter estimation; robot vision; compensation; dual manipulator system; flexible object; flexible rope manipulation; flexural rigidity; parameter identification; rigidity coefficient; shape recognition; vision sensor; Engine cylinders; Force sensors; Humans; Hysteresis; Machine vision; Robots; Sensor systems; Shafts; Shape; Stereo vision;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936748
