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

7 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
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

All Science Journal Classification (ASJC) codes

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

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  • 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