利用视觉反馈控制方法提高充气机械臂的位置精度

Hye-Jong Kim, Yuto Tanaka, A. Kawamura, S. Kawamura, Yasutaka Nishioka
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引用次数: 20

摘要

充气机械臂作为一种轻便、灵活的机器人结构,在新的领域得到了广泛的应用。一般来说,充气机械臂的运动控制是一个难点,因为它具有复杂的非线性特性。本文提出了一种适用于充气机械臂的基于视觉反馈系统的精确位置控制方法。采用二自由度充气机械臂和网络摄像头进行了实验,验证了该控制方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Improvement of position accuracy for inflatable robotic arm using visual feedback control method
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.
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