Development of an active vision system with redundancy using parallel mechanism

Akira Shimada, Atsushi Kusakari

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

1 Citation (Scopus)

Abstract

This paper introduces an active vision system that use a parallel mechanism. A vision controller connected to the system obtains position data of the target: The data consists of u and v components. The active vision system has six degrees of freedom, thus making it a redundant system. To establish the technique presented in this paper, We obtain some useful functions making use of the redundancies on the parallel mehanism. For example, an active vision system for manufacturing three-dimensional objects requires contact from various viewpoints. Similarly, a micro-active vision system for semiconductor manufacturing may require to view the wafers from various view points, as well. Other examples may include the observation of helicopters or airplanes in flight. The number of redundancies depends on the degrees of freedom reqyired. Therefore, we developed an active vision system with redundancy using a parallel mechanism. The system presented herein has six degrees of freedom and a vision sensor, and it uses a parallel mechanism. we describe the structure of the system and present the simulation and experimental results of its motion.

Original languageEnglish
Title of host publicationProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOIs
Publication statusPublished - 2007 Dec 1
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Publication series

NameProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Conference

Conference4th IEEE International Conference on Mechatronics, ICM 2007
CountryJapan
CityKumamoto
Period07/5/807/5/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Shimada, A., & Kusakari, A. (2007). Development of an active vision system with redundancy using parallel mechanism. In Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007 [4279990] (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007). https://doi.org/10.1109/ICMECH.2007.4279990