JRM Vol.18 No.6 pp. 795-802
doi: 10.20965/jrm.2006.p0795


Visual Feedback Tracking with Laser to Moving Crane Hook

Shunsuke Nara and Satoru Takahashi

Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu-City, Kagawa 761-0396, Japan

March 22, 2006
September 21, 2006
December 20, 2006
image recognition, extended Kalman filter, visual feedback control, sensor fusion

This paper introduces measurement of the working radius of a crane truck based on visual feedback control. In order to realize the measurement, we developed an observation device which is equipped with a CCD camera, a laser range finder, and AC servo motors. Further, we propose a new algorithm for mark recognition and construct a control system with an extended Kalman filter to eliminate a time delay. By performing several experiments, we verify the performance of the observation device, and show the effectiveness of our proposed method.

Cite this article as:
Shunsuke Nara and Satoru Takahashi, “Visual Feedback Tracking with Laser to Moving Crane Hook,” J. Robot. Mechatron., Vol.18, No.6, pp. 795-802, 2006.
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