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6 DOF Multirate Visual Servoing for Quick Moving Objects | IEEE Conference Publication | IEEE Xplore

6 DOF Multirate Visual Servoing for Quick Moving Objects


Abstract:

This paper presents a visual servoing of 6 degree-of-freedom (DOF) manipulator based on repetitive perfect tracking control (RPTC). In general, the sampling period of vis...Show More

Abstract:

This paper presents a visual servoing of 6 degree-of-freedom (DOF) manipulator based on repetitive perfect tracking control (RPTC). In general, the sampling period of vision sensor is longer than that of joint servo in visual servo systems. To compensate the time delay of vision sensor, we apply multirate control technique. This paper applies perfect tracking control (PTC) with periodic signal generator in order to follow the moving object with high-order periodic motion. By the proposed approach, tracking error and computation cost are reduced compared with a conventional observer based method which is called repetitive intersample disturbance rejection (RIDR).
Date of Conference: 09-13 July 2007
Date Added to IEEE Xplore: 30 July 2007
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Conference Location: New York, NY, USA

References

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