2005 IEEE International Conference on Industrial Technology
DOI: 10.1109/icit.2005.1600668
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Visual Sensor Based Vibration Control and End-Effector Control for Flexible Robot Arms

Abstract: This paper addresses the issue of measurement and control of robot arms with link flexibility. A measurement system for link flexural deflection and end-effector position sensing using CCD camera and video tracker is presented. Based on the measurement system, both link vibration suppressing control scheme and end-effector trajectory tracking control scheme are designed. Experiments for link vibration control and end-effector trajectory tracking control are carried out on a 2 link flexible robot system as the … Show more

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Cited by 3 publications
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