Tracking of a moving target by combination of force/velocity control based on vision for a hydraulic manipulator

Yong Liu, H. Handroos, O. Alkkiomäki, V. Kyrki, H. Kälviäinen

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

5 Citations (Scopus)

Abstract

Visual feedback can help a robot to deal with unexpected events and uncertainty in applications such as flexible manufacturing. For example, motion of a workpiece can be handled by tracking the moving object with a manipulator. In the paper, we present a velocity and force control scheme for tracking a moving target with the robotic manipulator using vision. The control scheme consists of two modules: The first one generates candidate actions to drive the end-effector as accurate as possible near the moving target, so that the second module can impact the moving target and maintain constant force. The experimental results support the claim that the approach could be successfully applied to impact and track a moving target with a constant force.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages3226-3231
Number of pages6
DOIs
Publication statusPublished - 2007
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Mechatronics and Automation - Harbin, China
Duration: 5 Aug 20078 Aug 2007

Conference

ConferenceIEEE International Conference on Mechatronics and Automation
Abbreviated titleICMA
CountryChina
CityHarbin
Period05/08/200708/08/2007

Keywords

  • Force control
  • Hydraulic manipulator
  • Velocity control
  • Vision

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