Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5 mm. Hover, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1 mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1 mm
['Xin Jiang', 'Atsushi Konno', 'Masaru Uchiyama']
I am writing a research paper on a idea Visual Servoing Experiment using a 3D Flexible-Link Manipulator
[{"from": "human", "value": "I am writing a research paper on a idea Visual Servoing Experiment using a 3D Flexible-Link Manipulator"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5 mm. Hover, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1 mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1 mm"}]