Suspended ball tracking using robot manipulator

In this paper, a model-based trajectory anticipation of suspended ball is presented, in order to anticipate the tracking control of a robot manipulator. This technique based on the on-line vision model identification, allowing the optimal synchronisation of the robot and ball movements. Experimental...

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Bibliographische Detailangaben
Hauptverfasser:	Coelen, V, Merzouki, R, Lartigau, E
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptation model Cameras Delay Mathematical model Model-based trajectory anticipation robot manipulator Service robots Trajectory vision tracking
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Beschreibung
Zusammenfassung:	In this paper, a model-based trajectory anticipation of suspended ball is presented, in order to anticipate the tracking control of a robot manipulator. This technique based on the on-line vision model identification, allowing the optimal synchronisation of the robot and ball movements. Experimental results show the performance of the proposed approach, when the ball dynamic is well known.
DOI:	10.1109/ROBIO.2010.5723560