Vision sensing for control of long-reach flexible manipulators
Book, Wayne John
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This paper presents an end-point position measurement method for long-reach flexible manipulators using a landmark tracking system (LTS). The LTS is based on a computer vision system designed for the tracking of retro reflective landmarks. Hardware and software components of the LTS are described and the calibration procedure and sensing performance are discussed. Two methods are suggested to improve the performance of the current system.