Task space visual servoing of eye-in-hand flexible manipulators

2004 ◽  
Author(s):  
L. Bascetta ◽  
P. Rocco
Keyword(s):  
Visual Servoing ◽  
Flexible Manipulators ◽  
Task Space

A Mutivariable Methodology for Fast Visual Servoing of Flexible Manipulators Moving in a Restricted Workspace

2012 ◽  
Vol 26 (15) ◽  
pp. 1771-1797 ◽  
Author(s):  
Loïc Cuvillon ◽  
Edouard Laroche ◽  
Jacques Gangloff ◽  
Michel de Mathelin
Keyword(s):  
Visual Servoing ◽  
Flexible Manipulators

Hierarchical switching in a multi-dimensional task space is not induced by specific task cues

2001 ◽  
Vol 209 (2) ◽  
pp. 105-117 ◽  
Author(s):  
Thomas Kleinsorge ◽  
Herbert Heuer ◽  
Volker Schmidtke
Keyword(s):  
Specific Task ◽  
Task Space ◽  
Basic Pattern ◽  
Task Representation ◽  
Switching Mechanism ◽  
Factorial Combination ◽  
Individual Task ◽  
The Individual ◽  
The Way

Summary. When participants have to shift between four tasks that result from a factorial combination of the task dimensions judgment (numerical vs. spatial) and mapping (compatible vs. incompatible), a characteristic profile of shift costs can be observed that is suggestive of a hierarchical switching mechanism that operates upon a dimensionally ordered task representation, with judgment on the top and the response on the bottom of the task hierarchy ( Kleinsorge & Heuer, 1999 ). This switching mechanism results in unintentional shifts on lower levels of the task hierarchy whenever a shift on a higher level has to be performed, leading to non-shift costs on the lower levels. We investigated whether this profile depends on the way in which the individual task dimensions are cued. When the cues for the task dimensions were exchanged, the basic pattern of shift costs was replicated with only minor modifications. This indicates that the postulated hierarchical switching mechanism operates independently of the specifics of task cueing.

Robust Controller Application to Flexible Manipulators

1990 ◽  
Author(s):  
Eduardo M Nebot ◽  
Alfredo Desagues ◽  
Jose Romagnoli ◽  
Glenn R. Widmann
Keyword(s):  
Flexible Manipulators ◽  
Robust Controller
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