By Topic

Control of a robotic manipulator to grasp a moving target using vision

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Houshangi, N. ; Dept. of Eng., Purdue Univ., Calumet, Hammond, IN, USA

Consideration is given to grasping a moving target by adaptively controlling a robot manipulator. The adaptive controller is capable to compensate for the system modeling errors and unknown payloads without deterioration of its performance. Because of the time needed to extract information from the computer images, a time delay is inherent in the calculated position of the object. This can be circumvented by predicting the position of the object so that the end effector of the manipulator can grasp it. Since the dynamics of the object are assumed to be unknown, a prediction is performed based on an autoregressive (AR) model, which is determined using the information extracted from the computer images. The information is then utilized in the controller so that the manipulator will grasp the moving object. The details of the prediction scheme are given. Control of the manipulator is reviewed. A simulation study on a manipulator for grasping a moving target using vision information and a self-tuning controller is described. The practicality of the approach is demonstrated by the laboratory experiments presented

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990