Improvement of position accuracy for inflatable robotic arm using visual feedback control method

机译：视觉反馈控制方法提高充气机器人手臂位置精度

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Inflatable robotic arms have been studied as a lightweight and flexible robotic structure for applications to new fields. In general the motion control of inflatable robotic arms is difficult, because they have complicated nonlinear characteristics. This paper proposes a new control method suitable for inflatable robotic arms that realizes precise position control on the basis of a visual feedback system. The effectiveness of the control method is verified by the results of an experiment, in which an inflatable robotic arm with two degrees of freedom and a web camera are used.

机译：充气机器人手臂已被研究为一种轻巧而灵活的机器人结构，适用于新领域。通常，由于充气机器人手臂具有复杂的非线性特性，因此很难进行运动控制。本文提出了一种适用于充气机器人手臂的新控制方法，该方法可在视觉反馈系统的基础上实现精确的位置控制。通过实验结果验证了该控制方法的有效性，该实验使用了具有两个自由度的可充气机械臂和网络摄像头。

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《IEEE/ASME International Conference on Advanced Intelligent Mechatronics》|2015年|767-772|共6页
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Hye-Jong Kim; Tanaka Yuto; Kawamura Akihiro; Kawamura Sadao; Nishioka Yasutaka;
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1. Mechanical design and control of inflatable robotic arms for high positioning accuracy [J] . Kim Hye-Jong, Kawamura Akihiro, Nishioka Yasutaka, Advanced Robotics: The International Journal of the Robotics Society of Japan . 2018,第1a2期

机译：用于高定位精度的充气机械臂机械设计与控制
2. Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots [J] . Charles M. Best, Levi Rupert, Marc D. Killpack The International journal of robotics research . 2021,第1期

机译：基于模型的控制方法进行充气软机器的同时刚度和位置控制
3. Trajectory control of robot with flexible joints using torque feedback control and feed-forward control (improvement of trajectory tracking accuracy on SCARA robot driven by stepping motor) [J] . robot, manipulator, positioning 日本機械学会論文集. C編 . 1997,第614期

机译：使用转矩反馈控制和前馈控制的柔性关节机器人的轨迹控制（步进电机驱动的SCARA机器人的轨迹跟踪精度提高）
4. Improvement of position accuracy for inflatable robotic arm using visual feedback control method [C] . Hye-Jong Kim, Tanaka Yuto, Kawamura Akihiro, IEEE/ASME International Conference on Advanced Intelligent Mechatronics . 2015

机译：采用视觉反馈控制方法改进充气机械臂定位精度
5. Comparison of image-based and position-based robot visual servoing methods and improvements. [D] . Deng, Lingfeng. 2004

机译：基于图像和基于位置的机器人视觉伺服方法的比较和改进。
6. Robotic-arm assisted total knee arthroplasty has a learning curve of seven cases for integration into the surgical workflow but no learning curve effect for accuracy of implant positioning [O] . Babar Kayani, S. Konan, S. S. Huq, -1

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8. Method and apparatus for hybrid position/force control of multi-arm cooperating robots [R] . 1989

机译：用于多臂协作机器人的混合位置/力控制的方法和装置

Improvement of position accuracy for inflatable robotic arm using visual feedback control method

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