Comparative studies of parallel and vertical stereo vision-based 3D pneumatic arms

Authors:
Ray-Hwa Wong;Y. Wang;Chao-Yi Liu
Affiliations:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taiwan, Republic of China and Department of Mechanical Engineering, Hwa Hsia Institute of Technology, Ta ...;Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taiwan, Republic of China;Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taiwan, Republic of China
Venue:
ICCCI'10 Proceedings of the Second international conference on Computational collective intelligence: technologies and applications - Volume Part III
Year:
2010

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Abstract

Two parallel or vertical installed CCDs are used to capture the stereo photo vision of 3D pneumatic arm. CCD is used to obtain the planer image. Through parallel and vertical stereo triangulation and coordinate transformation, the stereo photo vision signals can be adapted for 3D pneumatic arm's feedback control signals. Since the imaging process restricts the sampling rate, the self-organizing sliding-mode fuzzy controller is implemented to simplify fuzzy rules to reduce the computer load and its learning mechanism can optimize fuzzy rules on-line to improve the control performance. The objective of this paper is to compare the measuring accuracy of parallel stereo vision and vertical stereo vision, and also study their control performances of variety trajectory tracking experiments.