|
1. |
Realtime collision avoidance using a robot manipulator with light-weight small high-speed vision systems
Morikawa, S.; Senoo, T.; Namiki, A.; Ishikawa, M.;
Robotics and Automation, 2007 IEEE International Conference on
10-14 April 2007
Page(s):794
-
799
Abstract:
This paper describes a new realtime collision avoidance algorithm for a robot manipulator based on a new visual servo control. In the proposed algorithm, it is not necessary to compute the 3D position of the obstacle. Further, the manipulator can avoid the fast moving obstacle. The developed system uses several small light-weight high-speed vision chips placed on the surface of the robot manipulator. Experimental results of avoiding high-speed motion are shown.
|
Cart
