複数座標系間の簡易な変換を用いた筋骨格アームのビジュアルサーボ

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2016/06/01

タイトル(英語): Visual Servoing of Musculoskeletal Arms using Simple Transformations between Multiple Coordinate Systems

著者名: 駒田　諭（三重大学大学院工学研究科電気電子工学専攻），橋本　賢人（三重大学大学院工学研究科電気電子工学専攻），矢代　大祐（三重大学大学院工学研究科電気電子工学専攻），平井　淳之（三重大学大学院工学研究科電気電子工学専攻）

著者名(英語): Satoshi Komada (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kento Hashimoto (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Junji Hirai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University)

キーワード: ビジュアルサーボ，視空間，運動学，2関節筋，極空間　　visual servoing，binocular visual space，kinematics，biarticular muscle，polar space

要約(英語): This paper proposes a technique for visually controlling a tendon arm based on simple coordinate transformations between binocular visual space and muscle space through polar spaces. Utilization of polar spaces contributes towards simplification of the transformations because both polar spaces and binocular visual space represent distance and orientation. Moreover, biarticular muscles can be used to convert a transformation into a diagonal matrix. Since a coordinate transformation is divided into multiple simple transformations, multiple feedback controllers can be easily implemented in some coordinate systems. In this paper, a visual feedback with time delay and an actuator feedback are adopted as an external and an internal sensor, respectively. The weights of the two feedback systems are adjusted depending on situations. Simulation results show that the internal sensor feedback and visual feedback are effective for initial quick motion and final positioning, respectively.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.136 No.6 （2016）

本誌掲載ページ: 392-398 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/136/6/136_392/_article/-char/ja/