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 journalArticle

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 languageEnglish
Pages (from-to)2225-2232
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume71
Issue number7
DOIs
Publication statusPublished - 2005 Jul
Externally publishedYes

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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