Please use this identifier to cite or link to this item: https://rda.sliit.lk/handle/123456789/1078
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dc.contributor.authorLiyanage, M. H-
dc.contributor.authorKrouglicof, N-
dc.date.accessioned2022-02-09T09:56:17Z-
dc.date.available2022-02-09T09:56:17Z-
dc.date.issued2014-05-31-
dc.identifier.citationM. H. Liyanage and N. Krouglicof, "A single time scale visual servoing system for a high speed SCARA type robotic arm," 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 4153-4160, doi: 10.1109/ICRA.2014.6907463.en_US
dc.identifier.issn1050-4729-
dc.identifier.urihttp://rda.sliit.lk/handle/123456789/1078-
dc.description.abstractA high speed image based visual servoing (VS) technique is developed in this study for a Selective Compliant Assembly Robotic Arm (SCARA) manipulator with rotary hydraulic actuators. This study has developed a 2D position measuring system which comprise a high speed camera with a position sensitive detector as the image sensor. The input output interface and the controller for the VS system was implemented using a field programmable gate array (FPGA) providing a single chip solution for the embedded system. This camera was capable of providing position measurements of the end effector (EE) with an accuracy of up to 0.95 mm at a frequency of 1340 Hz. The proposed control strategy produced a better tracking performance with an EE payload of 12 kg with speeds of up to 1.3 m/s.en_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2014 IEEE International Conference on Robotics and Automation (ICRA);Pages 4153-4160-
dc.subjectsingle time scaleen_US
dc.subjectvisual servoing systemen_US
dc.subjecthigh speeden_US
dc.subjectSCARA type robotic armen_US
dc.titleA single time scale visual servoing system for a high speed SCARA type robotic armen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/ICRA.2014.6907463en_US
Appears in Collections:Research Papers
Research Papers - Department of Mechanical Engineering
Research Papers - SLIIT Staff Publications

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