Visual Feedback Control with Compensation of Image Information Delay Verification by Using Three-Link Space Robot

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...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 71; no. 707; pp. 2225 - 2232
Main Authors TAKAHASHI, Shinya, WENG, Zhiqiang, NISHIMURA, Hidekazu
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 25.07.2005
Subjects
Kalman Filter
Space Robot
Time Deley Compensation
Visual Feedback
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ISSN0387-5024
1884-8354
DOI10.1299/kikaic.71.2225

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Summary: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.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.71.2225