Visual feedback control with compensation of image information delay (verification by using three-link space robot)

Shinya Takahashi; Hidekazu Nishimura; Zhiqiang Weng

doi:10.1299/kikaic.71.2225

Visual feedback control with compensation of image information delay (verification by using three-link space robot)

Shinya Takahashi, Hidekazu Nishimura, Zhiqiang Weng

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Time delay by image processing exists in the information acquired from a CCD camera. Since renewal time of image information is longer than sampling time of control, control delay occurs and lowers the performance of feedback control. In this paper, in order to compensate image information delay, we propose the method that combined Kalman filter, time delay compensation, and state estimation between the sample points of image information. Advantages of the proposed method are demonstrated by simulation and experiments for the three-link space robot.

Original language	English
Pages (from-to)	2225-2232
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	71
Issue number	7
DOIs	https://doi.org/10.1299/kikaic.71.2225
Publication status	Published - 2005 Jul
Externally published	Yes

Keywords

Kalman Filter
Space Robot
Time Deley Compensation
Visual Feedback

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.71.2225

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Visual feedback control with compensation of image information delay (verification by using three-link space robot). / Takahashi, Shinya; Nishimura, Hidekazu; Weng, Zhiqiang.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 71, No. 7, 07.2005, p. 2225-2232.

Research output: Contribution to journal › Article › peer-review

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Visual feedback control with compensation of image information delay (verification by using three-link space robot)

Abstract

Keywords

ASJC Scopus subject areas

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