A Study of Computer Control of Motion of a Mechanical Arm : 3rd Report. Dynamic Vision and Visual Feedback

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In the third report, a visual information processing system and visual feedback control of a hand are described. By this visual information processing system, it is possible to track moving objects and to measure their positions and velocities. As mentioned in the second report, this processing system is stored and run in a different computer from the one which controls the motion of the arm. The visual feedback control of the hand is performed by making use of these parallel processing systems. As a work example of these systems, a task of catching a rolling ball by the hand was chosen and carried out. In this visual feedback task, anticipating the catching position and time of the rolling ball from its measured position and velocity, the hand moves to this catching position by this time and catches it.

収録刊行物

  • Bulletin of JSME

    Bulletin of JSME 22 (173), 1657-1664, 1979

    一般社団法人 日本機械学会

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