Visual-based feedback control of Casting Manipulation
Visual-based feedback control of Casting Manipulation
复制标题
基于视觉的铸造操作反馈控制
DOI：
10.1109/robot.2005.1570438
复制
发表时间：
2005
期刊：
影响因子：
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通讯作者：
A. Bicchi
中科院分区：
文献类型：
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作者：
A. Fagiolini;Hitoshi Arisumi;A. Bicchi
本文提出了一种通过实时视觉反馈来控制浇注操作的方法。铸造操作是一种将机器人末端执行器部署在距离机器人底座很远的地方的技术，方法是抛出末端执行器，并使用通过连接到末端执行器本身的光缆传递的力来控制其弹道飞行。系绳还可以用来回收末端执行器，并对机器人的环境施加力。前人的工作表明，投射操纵能够在很远的距离内捕捉物体，证明了它在样本采集和返回、救援等应用中的可行性。在以前的实验中，目标物体的位置是准确的。在本文中，我们首次尝试利用运动目标的视觉反馈来关闭铸造操作的实时控制回路。针对已有的离线开环精确规划方法不能实时应用的问题，提出了一种简化的模型和控制算法，并通过实验验证了该方法的有效性。
In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position of the target object was known exactly. In this paper, we present a first attempt at closing a real-time control loop on casting manipulation using visual feedback of moving targets. As accurate planning methods developed for off-line open-loop planning cannot be used in real-time, we develop a simplified model and control algorithm, whose effectiveness is demonstrated through experiments.
论完整系统的构建
DOI：
--
发表时间：
2013
期刊：
影响因子：
--
作者：
根來均;他;Yoshishige Haraoka
通讯作者：
Yoshishige Haraoka