Image Information Based Configuration Control of Redundant Manipulator in Bilateral System
نویسندگان
چکیده
The paper proposes a construction method of bilateral system using redundant manipulator. In bilateral system, it is important that operation can be realized in narrow space and at remote plate. Then the master-slave robots with redundancy are convenient and needed to achieve the bilateral motion effectively. However, human operation will become difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult because the manipulator redundancy enables to achieve infinite number of the manipulator posture. This paper focuses on a construction of bilateral system so that it assists the human operation by adjusting a configuration control of redundant manipulator. In particular, bilateral system utilizes visual information by cameras to recognize the target object of remote environment in slave. By using this camera information, the assist for the slave operation of redundant manipulator is realized without deteriorating the bilateral motion.
منابع مشابه
Predictive Control of Redundant Manipulators based on Avoidance Manipulability
This paper proposes a new approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses...
متن کاملExperiments with Tentacle Robots
An ideal tentacle manipulator is a non-conventional robotic arm with an infinite mobility. It has the capability of taking sophisticated shapes and of achieving any position and orientation in a 3D space. A tentacle manipulator is a hyper redundant or hyper degree of freedom manipulator. Hyper redundant robots produce changes of configuration using a continuous backbone made of sections which b...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملRobust Image-based Visual Servoing System Using a Redundant Architecture
The reliability and robustness of image-based visual servoing systems have recently received a growing interest. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations to control the 6 dof of an industrial robot manipulator (Mitsubishi PA-10) is proposed. Its control law has...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کامل