視覚をもつマニプレータの動的制御　　ロボットによる「けんだま」の実現

• 竹中 一起

書誌事項

タイトル別名

• Dynamical Control of Manipulator with Vision : "Cup and Ball" Game Demonstrated by Robot
• シカク オ モツ マニプレータ ノ ドウテキ セイギョ ロボット ニ ヨル ケ

抄録

A "Cup and Ball" game is demonstrated by the manipulator (AMY-3), which has three degrees of freedom and whose motion is restricted to a vertical plane, using dynamical control and dynamical processing of visual information. In this process, a very simple algorithm is proposed for searching the center of the moving white ball, by which pictures obtained from a TV-Camera are processed in a very short time. Moreover, combining vision system and motion control system, the servo system is constructed whose reference inputs (desired trajectory) are adjusted by visual information in real time, and then the availability is shown experimentally.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 50 (458), 2046-2053, 1984

  一般社団法人 日本機械学会

キーワード

• Application of Control
• Control Theory
• Manipulator Dynamical Control
• Picture Processing
• Visual Feedback
• Cup and Ball

詳細情報

• CRID: 1390282681332439552
• NII論文ID: 110002388116
• NII論文ID: 130004227202
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.50.2046
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 3001432
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3001432
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/50/458/50_458_2046/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可