Development of an active vision system with redundancy using parallel mechanism

Akira Shimada, Atsushi Kusakari

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOI
出版ステータスPublished - 2007 12月 1
外部発表はい
イベント4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
継続期間: 2007 5月 82007 5月 10

出版物シリーズ

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

Conference

Conference4th IEEE International Conference on Mechatronics, ICM 2007
国/地域Japan
CityKumamoto
Period07/5/807/5/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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