Ahstract-This paper deals with deflection sensing for robotic control via high speed vision system. Marker is attached to the end effector of the 3-DoF robot arm and the robot is moved to satisfy a line trajectory of the end effector. The motion of the marker attached to the end effector is recorded using the high speed vision system and actual position of the end effector is calculated via image processing of recorded high-frame rate images. We found maximum 1.8 mm position error from the image processing results. We verify that deflection and vibration can be measured by comparing the actual position obtained from image and the ideal position of trajectory planning.
Motion planning for non-grasp manipulation is a typical kinodynamic problem which is required to solve both kinematic and dynamic constraint. So far, realized non-grasp manipulation is limited due to the difficulty of kinodynamic constrained condition. This paper proposes a non-grasp manipulation method considering only kinematic constraint and realize dynamical manipulation which is hitherto unrealized motion. This work focuses on flower stick juggling and constructs a feedback control strategy for a flower stick juggling task called "propeller" as one of the hitherto unrealized non-grasp manipulations. The propeller motion is modeled by considering combined flower stick and a robotic manipulator. We developed a control strategy that allows stable cyclic rotation of the flower stick in the air and the flower stick propeller motion is realized using an actual robotic system. Finally, we conduct a stability analysis of the generated cyclic motion of the flower stick by using a Poincaré map, and the analytical results show that the generated cyclic motion is asymptotically stable.
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