DocumentCode
3286325
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
Volume
2
fYear
2001
fDate
2001
Firstpage
677
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936748
Filename
936748
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