Vision-based Posture Estimation and Null Space Control for Redundant Manipulator

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2013/01/01

タイトル(英語): Vision-based Posture Estimation and Null Space Control for Redundant Manipulator

著者名: Naoki Oda (Department of Opto-Electronic System Engineering, Chitose Institute of Science and Technology), Noriaki Fujinaga (Department of Opto-Electronic System Engineering, Chitose Institute of Science and Technology)

著者名(英語): Naoki Oda (Department of Opto-Electronic System Engineering, Chitose Institute of Science and Technology), Noriaki Fujinaga (Department of Opto-Electronic System Engineering, Chitose Institute of Science and Technology)

キーワード: redundant manipulator，posture estimation，visual feedback，particle filter，obstacle avoidance

要約(英語): This paper presents an approach for a posture control method based on the vision-based posture estimation for a redundant manipulator. The redundant manipulator can provide dexterous task capability depending on the environmental information. In this paper, a hybrid motion controller including both a posture controller based on visual feedback and an end-effector motion controller based on encoder signal is proposed. In the proposed posture controller, the manipulator posture is estimated by using a particle filter, only based on the visual information. This means that posture control is completely achieved only by a vision sensor signal in the null space. The control performance of vision-based null space control is experimentally evaluated for several motions using the redundancy. A suitable control model for obstacle avoidance is also proposed by using an optical flow field, which is detected based on the visual information. The validity of the proposed method is evaluated by several experimental results.

本誌: IEEJ Journal of Industry Applications Vol.2 No.1 （2013） Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 48-54 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/1/2_48/_article/-char/ja/