書誌事項
- タイトル別名
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- Development of an Active Vision Making Use of Redundancy on Parallel Mechanism
- パラレル キコウ ノ ジョウチョウセイ オ イカス アクティブ ビジョン ノ カイハツ
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抄録
This paper introduces an active vision system using a parallel mechanism. Basically, active vision systems are kinds of intelligent machines using vision sensors and they track targets on screens. They are utilized as shape recognotion apparatuses, shape inspection systems, and vision systems of mobile robots, for example. Most of active vision have adopted serial link manipulators so far. They have ability to move in wide space but they need large space when they change thier orientation. Meanwhile, the active visions using parallel mechanisms have merits that they can change their orientations with small motions and position errors of active vision are averagely distributed to thier all links. Furthermore, the active vision systems have redundant degrees of freedoms relative to the degrees of freedoms on screens. This paper presents a control technique making use of the redundancy. In particular, the presented control system performs to track a target point in three cases of basic control, translation control, and orientation control. And finally, the experimental results are shown in order to evaluate the prestnted technique.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 25 (8), 1207-1213, 2007
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702947328
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- NII論文ID
- 10019787542
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 9273329
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可