Visual servo for gravity compensation system
作者: Ye JinRui WuWeiming LiuXianglong Tang
作者单位: 1Harbin Institute of Technology, Harbin, China
刊名: Neurocomputing, 2017
来源数据库: Elsevier Journal
DOI: 10.1016/j.neucom.2017.04.071
关键词: Visual servoGravity compensationSpace manipulatorImage detection
原始语种摘要: Abstract(#br)This paper proposed a visual servo framework for the tower-crane-like Gravity Compensation System that is widely used in various aerospace ground tests. In this framework, a real-time detection algorithm is proposed to measure the position of the target. Using this algorithm, the target's original position is marked firstly in a well-designed calibration step, and then compared to its real-time position to calculate the offset for tracking. To realize the high precision tracking, a 2-level servo mechanism is investigated, in which a large-inertia crane servo system is utilized for the rough tracking and a 2-DOF (2 Direction Of Freedom) platform is used for the precise localization. The proposed method leads to a high responding speed and low time-drift in wide range tracking,...
全文获取路径: Elsevier  (合作)
影响因子:1.634 (2012)

  • gravity 重力
  • manipulator 控制器机械手
  • servo 伺服电动机
  • compensation 补偿
  • tracking 跟踪
  • framework 构架
  • platform 台地
  • DOF Degrees Of Freedom
  • inertia 惯性
  • system