Design and implementation of a visual feedback control system driven by wires

Akira Shimada, Kazuyuki Gotoh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper introduces a visual feedback control method for a multiple degree of freedom mechanical system driven by wires. This system is a small serial-link robot. It consists of a small-diameter tube and two pairs of wires, which are connected to the interior of the terminal link, which pass through the interior of every other link. The mechanical system is driven by electrical motors via tension in the wires. One pair of wires is for side-to-side motion while the other pair is for up-and-down motion. Such a mechanism is frequently used in medical and industrial devices, such as endoscopes. Furthermore, a compact CCD camera is mounted on the terminal link and functions as a vision sensor. The control system consists of a visual feedback control loop and a minor loop that directly controls the sum of all the joint angles. The control law of the minor loop is designed based on a Lyapunov's theory. On the other hand, the outer visual feedback control loop is designed to track a target point detected by the vision sensor. Each loop is connected by an image Jacobian number and its inverse, which are continually updated during operations. This control method is evaluated experimentally. It is anticipated that this system will be used in a variety of applications in the future.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - 2008 Dec 1
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Conference

Conference17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

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Keywords

  • Mechatronic systems
  • Robotics technology

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Shimada, A., & Gotoh, K. (2008). Design and implementation of a visual feedback control system driven by wires. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.1855