The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 2A1-Q02
Conference information
2A1-Q02 Control of robot manipulator based on an image coordinate system of the eye-in-hand camera(Mechanism and Control for Actuator (1))
Yoshiaki HIGUCHIKazuhiro SHIMONOMURA
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Abstract
We propose a control of the two-degree-of-freedom robot manipulator based on an image coordinates of the eye-in-hand camera. In this method, the control input for each joint actuator are directly calculated using the position and velocity information represented on the image coordinate system of the eye-in-hand camera. The velocity and position information, which is necessary for PID control of the manipulator, can be obtained with low latency by using the high-speed camera and image processing by the FPGA circuit. We examined the performance of the position control of the robot manipulator through the experiments.
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© 2014 The Japan Society of Mechanical Engineers
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