English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

This paper presents an approach for a posture control method based on the vision-based posture estimation for a redundant manipulator. The redundant manipulator can provide dexterous task capability depending on the environmental information. In this paper, a hybrid motion controller including both a posture controller based on visual feedback and an end-effector motion controller based on encoder signal is proposed. In the proposed posture controller, the manipulator posture is estimated by using a particle filter, only based on the visual information. This means that posture control is completely achieved only by a vision sensor signal in the null space. The control performance of vision-based null space control is experimentally evaluated for several motions using the redundancy. A suitable control model for obstacle avoidance is also proposed by using an optical flow field, which is detected based on the visual information. The validity of the proposed method is evaluated by several experimental results.

Vision-based Posture Estimation and Null Space Control for Redundant Manipulator