Hello Fotis Dimeas, in this video we don't use vision. However, we do that in the following works: Malzahn et al: Predictive Delay Compensation for Camera Based Oscillation Damping of a Multi Link Flexible Robot, ICIRA 2012. Malzahn et al: Scene Adaptive RGB-D Based Oscillation Sensing for a Multi Flexible Link Robot Arm in Unstructured Dynamic Environments, IROS 2012. There we compute a replacement signal for the individual strain measurements from the reconstructed camera motion.
Malzahn, J., A. S. Phung, F. Hoffmann und T. Bertram: Vibration Control of a Multi-Flexible-Link Robot Arm under Gravity, In IEEE International Conference on Robotics and Biomimetics, Phuket (Thailand),07.-11.12.2011, pp. 1249-1254
Hello Fotis Dimeas,
in this video we don't use vision. However, we do that in the following works:
Malzahn et al: Predictive Delay Compensation for Camera Based Oscillation Damping of a Multi Link Flexible Robot, ICIRA 2012.
Malzahn et al: Scene Adaptive RGB-D Based Oscillation Sensing for a Multi Flexible Link Robot Arm in Unstructured Dynamic Environments, IROS 2012.
There we compute a replacement signal for the individual strain measurements from the reconstructed camera motion.
I am very interested in the oscillation damping function. Are there any publications of this techonlogy?
Are you using vision feedback for the oscillation damping?
Where could I find more information about the non-vision technique that you are using on this video? Are there any publications of yours?
Malzahn, J., A. S. Phung, F. Hoffmann und T. Bertram: Vibration Control of a Multi-Flexible-Link Robot Arm under Gravity, In IEEE International Conference on Robotics and Biomimetics, Phuket (Thailand),07.-11.12.2011, pp. 1249-1254
Nice !
Exciting!