The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 28-247
Full Name: Dorian Cojocaru
Position: Professor
Age: ON
Sex: Male
Address: Faculty of Automation, Computers and Electronics, Bdu. Decebal 107, Craiova, 200440
Country: ROMANIA
Tel: 722 795225
Tel prefix: 0040
Fax: 251 438198
E-mail address: cojocaru@robotics.ucv.ro
Other E-mails: cojocarudorian@yahoo.com
Title of the Paper: Graphic Simulator for the Visual Control of Hyperredundant Robots
Authors as they appear in the Paper: Dorian Cojocaru, Razvan Tudor Tanasie
Email addresses of all the authors: cojocaru@robotics.ucv.ro, tanasie_razvan@software.ucv.ro
Number of paper pages: 10
Abstract: Tentacle manipulators produce changes of configuration using a continuous backbone made of sections which bend. In this paper, a new project for controling a continuum robot is presented. The robotic structure uses cables to transmit forces to the elements of the arm. This new robot is actuated by stepper motors. Due to the difficulties of using distributed sensors along the manipulator structures, it was decided to use a vision system. The vision system is composed by two pan / tilt / zoom cameras and a frame grabber. A graphical simulator was designed and implemented in order to test the robot behavior under certain circumstances. The camera calibration using this graphic simulator is also presented. The term of "camera calibration" in the context of this paper refers to positioning and orienting the two cameras at imposed values.
Keywords: Hyperredundant robots, Visual Control, Graphic Simulator
EXTENSION of the file: .pdf
Special (Invited) Session: Graphic Simulation for Camera Calibration in Visual-Servoing Applications
Organizer of the Session: 594-475
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