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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Furukawa, N., Namiki, A., Senoo, T., Ishikawa, M.: Dynamic regrasping using a high-speed multifingered hand and a high-speed vision system. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 181–187 (2006)
Hutchinson, S., Grefory, G., Corke, P.: A tutorial on visual servo control. IEEE Trans. on Robotics and. Automation 12(5), 651–670 (1996)
Ishihara, T., Namiki, A., Ishikawa, M., Shimojo, M.: Dynamic pen spinning using a high-speed multifingered hand with high-speed tactile sensor. In: IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 258–263 (2006)
Ishikawa, M., Kazuya Ogawa, T.K., Ishii, I.: A cmos vision chip with simd processing element array for 1ms image processing. In: Dig. Tech. Papers of IEEE Int. Solid-State Circuits Conf., pp. 206–207 (1999)
Mizusawa, S., Namiki, A., Ishikawa, M.: Tweezers type tool manipulation by a multifingered hand using a high-speed visual servoing. In: IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2709–2714 (2008)
Nakabo, Y., Ishikawa, M., Toyoda, H., Mizuno, S.: 1ms column parallel vision system and its application of high speed target tracking. In: IEEE Int. Conf. Robotics and Automation, pp. 650–655 (2000)
Namiki, A., Imai, Y., Ishikawa, M., Kaneko, M.: Development of a high-speed multifingered hand system and its application to catching. In: IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2666–2671 (2003)
Rooks, B.: The harmonious robot. Industrial Robot: An International Journal 33(2), 125–130 (2006)
Senoo, T., Namiki, A., Ishikawa, M.: High-speed batting using a multi-jointed manipulator. In: IEEE Int. Conf. Robotics and Automation, pp. 191–1196 (2004)
Senoo, T., Namiki, A., Ishikawa, M.: Ball control in high-speed batting motion using hybrid trajectory generator. In: IEEE Int. Conf. Robotics and Automation, pp. 1762–1767 (2006)
Yamakawa, Y., Namiki, A., Ishikawa, M., Shimojo, M.: One-handed knotting of a flexible rope with a high-speed multifingered hand having tactile sensors. In: IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 703–708 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer London
About this chapter
Cite this chapter
Namiki, A., Senoo, T., Mizusawa, S., Ishikawa, M. (2010). High-speed Visual Feedback Control for Grasping and Manipulation. In: Chesi, G., Hashimoto, K. (eds) Visual Servoing via Advanced Numerical Methods. Lecture Notes in Control and Information Sciences, vol 401. Springer, London. https://doi.org/10.1007/978-1-84996-089-2_3
Download citation
DOI: https://doi.org/10.1007/978-1-84996-089-2_3
Publisher Name: Springer, London
Print ISBN: 978-1-84996-088-5
Online ISBN: 978-1-84996-089-2
eBook Packages: EngineeringEngineering (R0)