Title :
Vision-based motion control of pneumatic group actuators
Author :
Hirai, Shinichi ; Shimizu, Kiyoto ; Kawamura, Sadao
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
Abstract :
A vision-based approach to the motion control of pneumatic group actuators is presented. Sensing of plate locations consisting of the pneumatic group actuator is essential to cope with the variation of elastic tubes of the actuator. Plate locations are measured by a vision system and the motion of the actuator is controlled using a roughly identified relationship between air pressure imposed on individual tubes and the plate locations. Proposed motion control is evaluated experimentally
Keywords :
actuators; computer vision; handicapped aids; kinematics; motion control; pneumatic control equipment; CCD camera; air pressure control; computer vision; kinematics; motion control; pneumatic group actuators; rehabilitation; silicon tubes; Electronics packaging; Humans; Machine vision; Mechanical systems; Motion control; Motion measurement; Pneumatic actuators; Pressure measurement; Prototypes; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013663
