In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic endeffector at large distances from the robot's base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the endeffector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot's environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position of the target object was known exactly. In this paper, we present a first attempt at closing a real-time control loop on casting manipulation using visual feedback of moving targets. As accurate planning methods developed for off-line open-loop planning cannot be used in real-time, we develop a simplified model and control algorithm, whose effectiveness is demonstrated through experiments. ©2005 IEEE.
|Numero di pagine||6|
|Stato di pubblicazione||Published - 2005|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering