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Variable Time Delays in Visual Servoing and Task Execution Control

Bengtsson, Johan LU ; Haage, Mathias LU and Johansson, Rolf LU (2002) In Mechatronic systems 2002 : a proceedings volume from the 2nd IFAC Conference, Berkeley, California, USA, 9-11 December 2002
Abstract
We study an image-based visual servoing system implemented on a non-dedicatednetwork with non-deterministic computationalnodes. A problem is thattime delays aretypically non-deterministic and variable and may causesignificant degradation of control system performance, stability androbustness if not compensated for.Another problem is thepresence of noise due to information loss and measurement errors inthe image and vision processing part of the loop also resultingin decreased control performance.This paper focuses on an image plane linear predictionstrategy implemented using time-stamped data and a nonuniformly updating Kalman filter tocompensate for time delays and noise. Control performance isexperimentally verified by presenting... (More)
We study an image-based visual servoing system implemented on a non-dedicatednetwork with non-deterministic computationalnodes. A problem is thattime delays aretypically non-deterministic and variable and may causesignificant degradation of control system performance, stability androbustness if not compensated for.Another problem is thepresence of noise due to information loss and measurement errors inthe image and vision processing part of the loop also resultingin decreased control performance.This paper focuses on an image plane linear predictionstrategy implemented using time-stamped data and a nonuniformly updating Kalman filter tocompensate for time delays and noise. Control performance isexperimentally verified by presenting prediction errormeasurements from an image-based visual servoing experiment ofgripping a moving object using a 6-DOF industrial robot anduncalibrated cameras. (Less)
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in
Mechatronic systems 2002 : a proceedings volume from the 2nd IFAC Conference, Berkeley, California, USA, 9-11 December 2002
publisher
Elsevier
ISBN
0080441971
language
English
LU publication?
yes
id
f03ab66b-04fd-45e9-92b1-0598ec92a9d6 (old id 537714)
date added to LUP
2007-09-13 09:06:47
date last changed
2016-09-23 15:15:43
@misc{f03ab66b-04fd-45e9-92b1-0598ec92a9d6,
  abstract     = {We study an image-based visual servoing system implemented on a non-dedicatednetwork with non-deterministic computationalnodes. A problem is thattime delays aretypically non-deterministic and variable and may causesignificant degradation of control system performance, stability androbustness if not compensated for.Another problem is thepresence of noise due to information loss and measurement errors inthe image and vision processing part of the loop also resultingin decreased control performance.This paper focuses on an image plane linear predictionstrategy implemented using time-stamped data and a nonuniformly updating Kalman filter tocompensate for time delays and noise. Control performance isexperimentally verified by presenting prediction errormeasurements from an image-based visual servoing experiment ofgripping a moving object using a 6-DOF industrial robot anduncalibrated cameras.},
  author       = {Bengtsson, Johan and Haage, Mathias and Johansson, Rolf},
  isbn         = {0080441971},
  language     = {eng},
  publisher    = {ARRAY(0x92e4e20)},
  series       = {Mechatronic systems 2002 : a proceedings volume from the 2nd IFAC Conference, Berkeley, California, USA, 9-11 December 2002},
  title        = {Variable Time Delays in Visual Servoing and Task Execution Control},
  year         = {2002},
}