238 画像情報を用いた移動マニピュレータの振動制御(ロボットの制御I)(OS ロボットの制御)

概要

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When the mobile manipulator works on the rough terrain, the mobile manipulator oscillates. In such case, to make the mobile manipulator pursue a task, it is necessary to estimate the oscillation. In this paper, a method for estimating of the oscillation of the mobile manipulator using the stereo camera mounted rigidly on the mobile manipulator is described. When the mobile manipulator oscillates, a point which is fixed at the scene moves in the images obtained by the stereo camera. From the motion of the feature points in the image, the motion of the mobile manipulator can be estimated. A method for controlling the position of the end-effector is also described. Simulation results is shown to confirm the effectiveness of the method described in this paper.
一般社団法人日本機械学会の論文
2001-04-20