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DC Field | Value | Language |
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dc.contributor.author | Liyanage, M. H | - |
dc.contributor.author | Krouglicof, N | - |
dc.date.accessioned | 2022-02-09T09:56:17Z | - |
dc.date.available | 2022-02-09T09:56:17Z | - |
dc.date.issued | 2014-05-31 | - |
dc.identifier.citation | M. 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.issn | 1050-4729 | - |
dc.identifier.uri | http://rda.sliit.lk/handle/123456789/1078 | - |
dc.description.abstract | A 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.iso | en | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartofseries | 2014 IEEE International Conference on Robotics and Automation (ICRA);Pages 4153-4160 | - |
dc.subject | single time scale | en_US |
dc.subject | visual servoing system | en_US |
dc.subject | high speed | en_US |
dc.subject | SCARA type robotic arm | en_US |
dc.title | A single time scale visual servoing system for a high speed SCARA type robotic arm | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/ICRA.2014.6907463 | en_US |
Appears in Collections: | Research Papers Research Papers - Department of Mechanical Engineering Research Papers - SLIIT Staff Publications |
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File | Description | Size | Format | |
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A_single_time_scale_visual_servoing_system_for_a_high_speed_SCARA_type_robotic_arm.pdf Until 2050-12-31 | 4.97 MB | Adobe PDF | View/Open Request a copy |
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