High-speed Visual Feedback Control for Grasping and Manipulation - Visual Servoing via Advanced Numerical Methods - page 39

Robot Manipulator

Ball

Z

Active vision system

Y

0.4m

X

1.2m

1.3m

0.4m

0.67m

Active vision system

Fig. 3.3 System configuration [10]

Z5

Y5
X5

Z4

X4

Y4

Z1, Z3

Y1, Z2, Y3

X1, X2, X3

Y2

(b) Manipulator and vision system

(a) Kinematics

Fig. 3.4 System components [10]

3.2.2.1 Manipulator

The kinetic system consists of a wire-drive manipulator made in Barrett Technology
Inc. [8]. The kinematics of the manipulator is shown in Figure 3.4(a). The manipu-
lator has 5 degrees of freedom (DOF) joints, and a plane plate is set as a bat in order
to control the direction of the hit ball. The maximum velocity of the end-effector is
about 8 m/s, and its maximum acceleration is about 58 m/s 2 .

3.2.2.2 Active Vision

The visual processing is executed in a massive parallel vision system called column-
parallel high-speed vision system (CPV) [6]. It consists of a 128 × 128 image sensor