TY - GEN
T1 - Motion estimation for a flexible manipulator using vibration and vision sensing
AU - Luo, Xi
AU - Halim, Dunant
AU - Trivailo, Pavel M.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - This work proposed a motion estimation method for a flexible robotic manipulator with a vision-based end-effector. The effectiveness of the proposed estimation method was evaluated by utilizing a non-linear dynamic model of a flexible manipulator using the co-rotational finite element method. This modeling utilized multiple co-ordinate (co-rotational) systems which rotated and translated with each element, allowing the investigation of flexible manipulator dynamics with the large rotational and translational motion. Smart piezoelectric sensors, embedded to the flexible manipulator, were used for vibration sensing purposes. Simulation results on a flexible manipulator demonstrated the feasibility of the proposed estimation method in predicting the movement of end-effector with a satisfactory accuracy. Experimental results confirmed the effectiveness of the estimation method. Results from the vision analysis, based on experimental results, demonstrated the feasibility of the estimation method for a further flexible manipulator application with the eye-in-hand system.
AB - This work proposed a motion estimation method for a flexible robotic manipulator with a vision-based end-effector. The effectiveness of the proposed estimation method was evaluated by utilizing a non-linear dynamic model of a flexible manipulator using the co-rotational finite element method. This modeling utilized multiple co-ordinate (co-rotational) systems which rotated and translated with each element, allowing the investigation of flexible manipulator dynamics with the large rotational and translational motion. Smart piezoelectric sensors, embedded to the flexible manipulator, were used for vibration sensing purposes. Simulation results on a flexible manipulator demonstrated the feasibility of the proposed estimation method in predicting the movement of end-effector with a satisfactory accuracy. Experimental results confirmed the effectiveness of the estimation method. Results from the vision analysis, based on experimental results, demonstrated the feasibility of the estimation method for a further flexible manipulator application with the eye-in-hand system.
KW - flexible manipulator
KW - motion estimation
KW - structural vibration
KW - visual sensing
UR - http://www.scopus.com/inward/record.url?scp=85015253077&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2016.7838640
DO - 10.1109/ICARCV.2016.7838640
M3 - Conference contribution
AN - SCOPUS:85015253077
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -