Realization of flower stick rotation using robotic arm

Control scheme of nongrasping manipulation based on virtual connecting constraint

“…6 shows the trajectory of the end effector in the xy plane. The position coordinates of the end effector x e and y e are in the range of 0.6 m. The frequency and end-effector trajectory are acceptable for the actual robotic system used in our preliminary experiment [14]; this implies the proposed manipulation method can generate robotic trajectories that can be applied to actual robotic systems. Figures 7 and 8 show the time behavior of the flower-stick angle θ and angular velocityθ, respectively.…”

“…This study deals with a planar flower-stick rotation motion controlled using a planar robotic arm with two DoFs, as in our preliminary work [14]. Figure 2 shows the flower-stick and end-effector models.…”

“…The controlled object in this work was a two-dimensional tumble doll, and the stability analysis of the designed control scheme was conducted; the control scheme was experimentally verified. In addition, we realized a more dynamic and challenging nongrasping manipulation task involving a two-dimensional object [14]. In this work, we dealt with the propeller motion of a flower stick as the manipulation task, in which the flower stick is continuously rotated using a hand stick.…”

“…The present paper proposes the concept of virtual connecting manipulation, which is a generalized motion planning scheme for nongrasping manipulation systems. We apply the virtual connecting manipulation concept to a flower-stick juggling task, which was first realized in [14], and study the generated motion using analytical methodology. We conduct a dynamical simulation of the proposed manipulating scheme and analyze the stability of the controlled object's generated motion based on the concept of virtual connecting manipulation using a Poincaré map.…”

Real-time high-resolution video stabilization using high-frame-rate jitter sensing

“…With rapid advancements in computer vision technologies, various real-time high-frame-rate (HFR) vision systems operating at 1000 fps or more have been developed [70][71][72][73], and their effectiveness has been demonstrated in tracking applications such as robot manipulations [74][75][76][77], multi-copter tracking [78,79], optical flow [80], camshift tracking [81], multi-object tracking [82], feature point tracking [83], and face tracking [84]. These systems were computationally accelerated by parallel-implementation on field-programmable gate arrays (FPGAs) and graphics processing units (GPUs) to obtain real-time HFR video processing.…”