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

Shinya Takahashi, Hidekazu Nishimura, Zhiqiang Weng

研究成果: Article査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)2225-2232
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
71
7
DOI
出版ステータスPublished - 2005 7
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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