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
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0
