Flexible rope manipulation by dual manipulator system using vision sensor
Flexible rope manipulation by dual manipulator system using vision sensor
复制标题
使用视觉传感器的双机械手系统进行灵活的绳索操纵
DOI：
10.1109/aim.2001.936748
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
F. Arai
中科院分区：
文献类型：
--
作者：
Takayuki Matsuno;Toshio Fukuda;F. Arai
本文提出了一种柔性目标参数识别的方法。提出了利用柔性体模型和视觉信息识别绳索形状的方法。然而，在这种方法中，当模型的弯曲刚度与实际绳索的弯曲刚度相差很大时，不可能利用视觉信息进行准确的识别和补偿。在此，我们结合实验结果提出了物体刚度系数的识别方法。
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.