Dynamical Control of Manipulator with Vision : "Cup and Ball" Game Demonstrated by Robot

摘要

A "Cup and Ball" game is demonstrated by the manipulator (AMY-3), which has three degrees of freedom and whose motion is restricted to a vertical plane, using dynamical control and dynamical processing of visual information. In this process, a very simple algorithm is proposed for searching the center of the moving white ball, by which pictures obtained from a TV-Camera are processed in a very short time. Moreover, combining vision system and motion control system, the servo system is constructed whose reference inputs (desired trajectory) are adjusted by visual information in real time, and then the availability is shown experimentally.