Encoderless robot motion control using vision sensor and back electromotive force

Akihiro Kawamura, Miyako Tachibana, Soichiro Yamate, Sadao Kawamura

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1609-1615
ページ数7
ISBN(電子版)9781479969340
DOI
出版ステータス出版済み - 10 31 2014
外部発表はい
イベント2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, 米国
継続期間: 9 14 20149 18 2014

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

その他

その他2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
国/地域米国
CityChicago
Period9/14/149/18/14

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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