DocumentCode
558978
Title
Tendon-driven multi-DOFs mini manipulation system with micro camera
Author
Jeong, Hyunhwan ; Park, Jongwoo ; Cho, Youngsu ; Cheong, Joono
Author_Institution
Dept. of Control & Instrum. Eng., Korea Univ., Jochiwon, South Korea
fYear
2011
fDate
26-29 Oct. 2011
Firstpage
1064
Lastpage
1067
Abstract
In this paper, we present a tendon-driven small manipulator system and its control algorithm guided by vision. Our tendon-driven small manipulator has total 6 degrees of freedom, which are enough for working either stand-alone or together with macro-manipulator. In order to overcome inherent positioning inaccuracy of the tendon-driven mechanism, we propose to use vision as a means to perform tasks correctly. We show kinematic, workspace and stiffness analysis of the mini manipulations system.
Keywords
manipulator kinematics; micromanipulators; position control; robot vision; control algorithm; kinematic analysis; macromanipulator; microcamera; mini manipulation system; positioning inaccuracy; stiffness analysis; tendon-driven mechanism; tendon-driven multiDOF; tendon-driven small manipulator system; vision; workspace; Cameras; Joints; Kinematics; Manipulators; Pulleys; Tendons; Mini-manipulator; tendon-driven; vision-guided manipulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location
Gyeonggi-do
ISSN
2093-7121
Print_ISBN
978-1-4577-0835-0
Type
conf
Filename
6106316
Link To Document