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High-speed Visual Feedback Control for Grasping and Manipulation

  • Akio Namiki
  • Taku Senoo
  • Satoru Mizusawa
  • Masatoshi Ishikawa
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 401)

Abstract

Recently, several types of high-speed vision in which the sampling rate is more than 1 kHz have been developed. In the high-speed vision system, not only sensing but also processing is achieved at high-speed, and it improves the performance of visual servoing. In this chapter, we described some examples of visual feedback control methods in our high-speed manipulation system. First, a hybrid trajectory generator using visual information is proposed for a batting task. In the method, the manipulator trajectory defined as a polynomial function of time is modified by visual information directly. Next, a visual servoing control with a passive joint problem is proposed for tool manipulation. Experimental results are shown.

Keywords

Joint Angle Visual Servoing Swing Motion Passive Joint Proportional Derivative 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer London 2010

Authors and Affiliations

  • Akio Namiki
    • 1
  • Taku Senoo
    • 2
  • Satoru Mizusawa
    • 2
  • Masatoshi Ishikawa
    • 2
  1. 1.Department of Mechanical EngineeringChiba UniversityChibaJapan
  2. 2.Department of Information Physics and ComputingUniversity of TokyoTokyoJapan

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