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When Y pixel of the center of tweezers was 745, the tip of tweezers touched the
table plane. After that, the tweezers tips moved along the surface. Normally, if the
passive joint structure changes, the tracking speed changes rapidly. In this case, the
speed changed smoothly by changing the coefficient of the control method.
3.4
Conclusion
In this chapter, we described some examples of visual feedback control methods in
our high-speed manipulation system. First, a hybrid trajectory generator using visual
information is proposed for a batting task. Next, visual servoing control including
passive joint problem is proposed for tool manipulation. Visual information is one
of the most important information for manipulation. However, the real-time visual
feedback control is not enough applied to manipulation system. The high-speed
visual feedback control is one of the breakthrough methods. In the future, it will
improve the ability of manipulation systems.
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