Title :
Improvement of position accuracy for inflatable robotic arm using visual feedback control method
Author :
Hye-Jong Kim ; Tanaka, Yuto ; Kawamura, Akihiro ; Kawamura, Sadao ; Nishioka, Yasutaka
Author_Institution :
Eng. & Robot., Ritsumeikan Univ., Kusatsu, Japan
Abstract :
Inflatable robotic arms have been studied as a lightweight and flexible robotic structure for applications to new fields. In general the motion control of inflatable robotic arms is difficult, because they have complicated nonlinear characteristics. This paper proposes a new control method suitable for inflatable robotic arms that realizes precise position control on the basis of a visual feedback system. The effectiveness of the control method is verified by the results of an experiment, in which an inflatable robotic arm with two degrees of freedom and a web camera are used.
Keywords :
manipulators; motion control; position control; Web camera; flexible robotic structure; inflatable robotic arm; motion control; nonlinear characteristics; position accuracy; position control; visual feedback control method; Actuators; Feedback control; Joints; Manipulators; Pneumatic systems; Robot kinematics;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on
DOI :
10.1109/AIM.2015.7222630