关键词：变形线性对象；机器人视觉；振动抑制；PID控制
摘 要：Deformable Linear Objects, such as hose and cable, are widely used in daily life and industrial applications. Problems in robotic operation and precise control of DLOs, have limited the progression of automation in the electronics industry and automotive industry. In this chapter, we propose an approach based on robot vision to suppress the vibration of a DLO, by means of real-time image processing of high-speed visual feedback to obtain the geometric coordinates and posture of the DLO. A PID controller verifies the validity of the theory along with the expected posture of the DLO. The effectiveness of the proposed strategy is confirmed by experiment. Results show that the proposed method can damp vibrations effectively.