Skip to main content
SpringerLink
Log in

Comparative Studies of Parallel and Vertical Stereo Vision-Based 3D Pneumatic Arms

  • Conference paper
Computational Collective Intelligence. Technologies and Applications (ICCCI 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6423))

Included in the following conference series:

  • 1044 Accesses

Abstract

Two parallel or vertical installed CCDs are used to capture the stereo photo vision of 3D pneumatic arm. CCD is used to obtain the planer image. Through parallel and vertical stereo triangulation and coordinate transformation, the stereo photo vision signals can be adapted for 3D pneumatic arm’s feedback control signals. Since the imaging process restricts the sampling rate, the self-organizing sliding-mode fuzzy controller is implemented to simplify fuzzy rules to reduce the computer load and its learning mechanism can optimize fuzzy rules on-line to improve the control performance. The objective of this paper is to compare the measuring accuracy of parallel stereo vision and vertical stereo vision, and also study their control performances of variety trajectory tracking experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Tondu, B., Ippolito, S., Guiochet, J., Daidie, A.: A Seven-degree-of-freedom Robot-arm Driven by Pneumatic Artificial Muscles for Humanoid Robots. The International Journal of Robotics Research 24(4), 257–274 (2005)

    Article  Google Scholar 

  2. Hutchinson, S., Hager, G.D., Corke, P.I.: A Tutorial on Visual Servo Control. IEEE, Robotics and Automation 12(5), 651–670 (1996)

    Article  Google Scholar 

  3. Errahimi, F., M’Sirdi, N.K., Abarkane, H.: Pneumatic Robot Leg Control via Second Order Sliding Mode Technique. Advances in Modelling and Analysis 60(1-2), 63–72 (2005)

    Google Scholar 

  4. Wang, Y.T., Wong, R.H., Yu, C.H., Huang, W.C.: Fuzzy Control: 2D Pneumatic Muscle Actuator’s Arm. The Journal of the Institute of Measurement and Control 42, 24–27 (2009)

    Article  Google Scholar 

  5. Fiale, M., Shu, C.: Self-Identification Patterns for Plane-Based Camera Calibration. Machine Vision and Applications 19(4), 209–216 (2008)

    Article  Google Scholar 

  6. Lee, C.C.: Fuzzy Logic in Control Systems: Fuzzy Logic Controller- Part I and II. IEEE Transactions on Systems, Man and Cybernetics 20(2), 404–435 (1990)

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taiwan, Republic of China

    Ray-Hwa Wong, Y. Wang & Chao-Yi Liu

  2. Department of Mechanical Engineering, Hwa Hsia Institute of Technology, Taiwan, Republic of China

    Ray-Hwa Wong

Authors
  1. Ray-Hwa Wong
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Y. Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chao-Yi Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Electronic Engineering, National Kaohsiung University of Applied Sciences, 415 Chien-Kung Road, 807, Kaohsiung, Taiwan

    Jeng-Shyang Pan

  2. Department of Computer Science and Information Engineering, National Taiwan University of Science and Technology, #43, Sec.4, Keelung Rd., 106, Taipei, Taiwan

    Shyi-Ming Chen

  3. Institute of Informatics, Wroclaw University of Technology, Str. Wyb. Wyspianskiego 27, 50-370, Wroclaw, Poland

    Ngoc Thanh Nguyen

Rights and permissions

Reprints and permissions

Copyright information

© 2010 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Wong, RH., Wang, Y., Liu, CY. (2010). Comparative Studies of Parallel and Vertical Stereo Vision-Based 3D Pneumatic Arms. In: Pan, JS., Chen, SM., Nguyen, N.T. (eds) Computational Collective Intelligence. Technologies and Applications. ICCCI 2010. Lecture Notes in Computer Science(), vol 6423. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16696-9_18

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-16696-9_18

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16695-2

  • Online ISBN: 978-3-642-16696-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation