Detecting Method of position/direction of a Robot Hand using PSD and its Applications

Abstract

This study treats a detecting method of position/direction of a robot hand and non-linear simulation of a visual feedback control system.
There are many studies on detecting the position/direction of the robot hand using PSD (position sensor diode) . In this paper, we propose the new detecting method which decreases detecting computation error and error due to detecting time delay which occurs when we apply it to the on-line visual feedback control. And we confirm that the proposed method is effective to construct a robust visual sensor feedback control of a manipulator by simulation.