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Hydraulic robot arm controlled by visual servoing

Author
Raush, G.; Freire, F.; Khamashta, M.; Codina-Macia, Esteban; Setó, J.; Cangas, J.
Type of activity
Presentation of work at congresses
Name of edition
9th European Conference on Precision Agriculture
Date of publication
2013
Presentation's date
2013-07-10
Book of congress proceedings
Precision agriculture'13
First page
365
Last page
371
DOI
https://doi.org/10.3920/978-90-8686-778-3 Open in new window
Project funding
MANUNET- Conveni JASVISIÓ
URL
http://link.springer.com/chapter/10.3920/978-90-8686-778-3_44 Open in new window
Abstract
This work presents a fully-hydraulic arm suitable for use in extremely aggressive environments such as hottest greenhouse, desert or rain forest. The use of hydraulic energy in all drives facilitates a compact design, low weight, ability to handle a wide range of loads and precise positioning in the workspace. To ensure a robust and economical design, movement is controlled via visual servoing, eliminating the need for joint position sensors in the kinematic chain. Preliminary tests showed the f...
Keywords
Ethernet, Fluid power, Hydraulic arm, Robotics, Visual servoing
Group of research
IAFARG- Industrial and Aeronautical Fluid-dynamic Applications Research Group
LABSON - Fluid power systems laboratory

Participants