Detecting methods for the position/direction of a robot hand using PSD and its applications

摘要

Detecting methods of the position/direction of a robot hand and non-linear simulation of a visual feedback control system are dealt with. While various studies have been reported on detecting methods of position/posture of a robot hand using PSD (position sensor diode), this paper proposes a new method to minimize the errors caused by the detecting computation or/and time delay which occurs when the technique is applied to on-line visual feedback control. A simulation has confirmed the effectiveness of the proposed method to construct the robot visual sensor feedback control of a manipulator.