Encoderless robot motion control using vision sensor and back electromotive force

Akihiro Kawamura, Miyako Tachibana, Soichiro Yamate, Sadao Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper focuses on a possibility of application of a method to simplification of robotic arm systems by removal joint encoders. The method which has been proposed achieves precise control of robotic arms using visual feedback with camera calibration errors. In this paper, the method is improved for an encoderless robotic arm system to ease several difficulties to use encoders. Encoders are fundamental components of most robotic arm systems to control joint angles precisely. However, encoders sometimes make some difficulties of wiring, structure and maintenance. The enhanced method for encoderless robotic arm systems is able to overcome these difficulties. Moreover, this method is also useful for robotic systems which have encoders since the method is able to be activated as a fail-safe system of robots with encoders just in case encoders are broken down. This new approach acquires information on joint angles from not encoders but estimation using back electromotive force. The information on joint angles includes some errors. The method, however, realizes precise manipulation. It is finally shown that this method allows errors caused by not only from camera calibrations but also joint angles.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1609-1615
Number of pages7
ISBN (Electronic)9781479969340
DOIs
Publication statusPublished - Oct 31 2014
Externally publishedYes
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

Fingerprint

Robotic arms
Electromotive force
Motion control
Robots
Sensors
Cameras
Calibration
Electric wiring
Robotics
Feedback

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kawamura, A., Tachibana, M., Yamate, S., & Kawamura, S. (2014). Encoderless robot motion control using vision sensor and back electromotive force. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1609-1615). [6942770] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942770

Encoderless robot motion control using vision sensor and back electromotive force. / Kawamura, Akihiro; Tachibana, Miyako; Yamate, Soichiro; Kawamura, Sadao.

IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1609-1615 6942770 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kawamura, A, Tachibana, M, Yamate, S & Kawamura, S 2014, Encoderless robot motion control using vision sensor and back electromotive force. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942770, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 1609-1615, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6942770
Kawamura A, Tachibana M, Yamate S, Kawamura S. Encoderless robot motion control using vision sensor and back electromotive force. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1609-1615. 6942770. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2014.6942770
Kawamura, Akihiro ; Tachibana, Miyako ; Yamate, Soichiro ; Kawamura, Sadao. / Encoderless robot motion control using vision sensor and back electromotive force. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1609-1615 (IEEE International Conference on Intelligent Robots and Systems).
@inproceedings{3b0b23b20d17494283de4868cd3bd74f,
title = "Encoderless robot motion control using vision sensor and back electromotive force",
abstract = "This paper focuses on a possibility of application of a method to simplification of robotic arm systems by removal joint encoders. The method which has been proposed achieves precise control of robotic arms using visual feedback with camera calibration errors. In this paper, the method is improved for an encoderless robotic arm system to ease several difficulties to use encoders. Encoders are fundamental components of most robotic arm systems to control joint angles precisely. However, encoders sometimes make some difficulties of wiring, structure and maintenance. The enhanced method for encoderless robotic arm systems is able to overcome these difficulties. Moreover, this method is also useful for robotic systems which have encoders since the method is able to be activated as a fail-safe system of robots with encoders just in case encoders are broken down. This new approach acquires information on joint angles from not encoders but estimation using back electromotive force. The information on joint angles includes some errors. The method, however, realizes precise manipulation. It is finally shown that this method allows errors caused by not only from camera calibrations but also joint angles.",
author = "Akihiro Kawamura and Miyako Tachibana and Soichiro Yamate and Sadao Kawamura",
year = "2014",
month = "10",
day = "31",
doi = "10.1109/IROS.2014.6942770",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1609--1615",
booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",

}

TY - GEN

T1 - Encoderless robot motion control using vision sensor and back electromotive force

AU - Kawamura, Akihiro

AU - Tachibana, Miyako

AU - Yamate, Soichiro

AU - Kawamura, Sadao

PY - 2014/10/31

Y1 - 2014/10/31

N2 - This paper focuses on a possibility of application of a method to simplification of robotic arm systems by removal joint encoders. The method which has been proposed achieves precise control of robotic arms using visual feedback with camera calibration errors. In this paper, the method is improved for an encoderless robotic arm system to ease several difficulties to use encoders. Encoders are fundamental components of most robotic arm systems to control joint angles precisely. However, encoders sometimes make some difficulties of wiring, structure and maintenance. The enhanced method for encoderless robotic arm systems is able to overcome these difficulties. Moreover, this method is also useful for robotic systems which have encoders since the method is able to be activated as a fail-safe system of robots with encoders just in case encoders are broken down. This new approach acquires information on joint angles from not encoders but estimation using back electromotive force. The information on joint angles includes some errors. The method, however, realizes precise manipulation. It is finally shown that this method allows errors caused by not only from camera calibrations but also joint angles.

AB - This paper focuses on a possibility of application of a method to simplification of robotic arm systems by removal joint encoders. The method which has been proposed achieves precise control of robotic arms using visual feedback with camera calibration errors. In this paper, the method is improved for an encoderless robotic arm system to ease several difficulties to use encoders. Encoders are fundamental components of most robotic arm systems to control joint angles precisely. However, encoders sometimes make some difficulties of wiring, structure and maintenance. The enhanced method for encoderless robotic arm systems is able to overcome these difficulties. Moreover, this method is also useful for robotic systems which have encoders since the method is able to be activated as a fail-safe system of robots with encoders just in case encoders are broken down. This new approach acquires information on joint angles from not encoders but estimation using back electromotive force. The information on joint angles includes some errors. The method, however, realizes precise manipulation. It is finally shown that this method allows errors caused by not only from camera calibrations but also joint angles.

UR - http://www.scopus.com/inward/record.url?scp=84911467946&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84911467946&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6942770

DO - 10.1109/IROS.2014.6942770

M3 - Conference contribution

AN - SCOPUS:84911467946

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1609

EP - 1615

BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

ER -