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Visual Feedback Control with Compensation of Image Information Delay (Verification by Using Three-Link Space Robot)
画像情報遅れを補償したビジュアルフィードバック制御(3リンク宇宙ロボット実験装置を用いた検証)
2005
Transactions of the Japan Society of Mechanical Engineers Series C
画像情報遅れを補償したビジュアルフィードバック制御(3リンク宇宙ロボット実験装置を用いた検証)
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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
doi:10.1299/kikaic.71.2225
fatcat:cr7zjxld6fgcrc7qqs5byabg24