Study on a Vision Sensing System for the Parameter Estimation of a Serial Construction Robot

Yu Peng Xia; Hironao Yamada; Haruhiko Kawasaki

doi:10.4028/www.scientific.net/AMR.219-220.1049

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Exponential Stability of Numerical Solutions to a Stochastic Delay Neural Networks
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Quantized Kalman Filter for Sensor Networks with Random Packet Dropouts
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Absolute Stability Condition for T-S Fuzzy Lurie Control Systems with Time Delay
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Study on a Vision Sensing System for the Parameter Estimation of a Serial Construction Robot
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Study on CAPP System Based on Rough Set Theory
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 219-220Study on a Vision Sensing System for the Parameter...

Study on a Vision Sensing System for the Parameter Estimation of a Serial Construction Robot

Abstract:

In this paper, a vision sensing system was developed in order to measure the gesture of a serial construction robot and the cylinder displacement of each actuator. The system consists of a single CCD video camera and several light sources which were used to acquire the distance information of key points of the construction robot. The three-dimensional coordinates of key points were obtained from a two-dimensional video image by using image processing. The gesture of the construction robot and the cylinder displacement of each hydraulic actuator were calculated via the inverse kinematics method. In addition, the validity of the proposed method was confirmed through an experiment of parameter estimation for the friction characteristics of a hydraulic cylinder.

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Periodical:

Advanced Materials Research (Volumes 219-220)

Pages:

1049-1054

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.219-220.1049

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Online since:

March 2011

Authors:

Yu Peng Xia, Hironao Yamada, Haruhiko Kawasaki

Keywords:

Parameter Estimation, Serial Construction Robot, Single CCD Video Camera, Vision Sensor

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