Variable Time Delays in Visual Servoing and Task Execution Control
(2002) In IFAC Proceedings Volumes 35(2). p.229-234- Abstract
- We study an image-based visual servoing system implemented on a non-dedicated network with non-deterministic computational nodes. A problem is that time delays are typically non-deterministic and variable and may cause significant degradation of control system performance, stability and robustness if not compensated for. Another problem is the presence of noise due to information loss and measurement errors in the image and vision processing part of the loop also resulting in decreased control performance. This paper focuses on an image plane linear prediction strategy implemented using time-stamped data and a nonuniformly updating Kalman filter to compensate for time delays and noise. Control performance is experimentally verified by... (More)
- We study an image-based visual servoing system implemented on a non-dedicated network with non-deterministic computational nodes. A problem is that time delays are typically non-deterministic and variable and may cause significant degradation of control system performance, stability and robustness if not compensated for. Another problem is the presence of noise due to information loss and measurement errors in the image and vision processing part of the loop also resulting in decreased control performance. This paper focuses on an image plane linear prediction strategy implemented using time-stamped data and a nonuniformly updating Kalman filter to compensate for time delays and noise. Control performance is experimentally verified by presenting prediction error measurements from an image-based visual servoing experiment of gripping a moving object using a 6-DOF industrial robot and uncalibrated cameras. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/ce6b0e9a-651e-4db3-af5e-dc9919b669be
- author
- Bengtsson, Johan LU ; Haage, Mathias LU and Johansson, Rolf LU
- organization
- publishing date
- 2002
- type
- Contribution to journal
- publication status
- published
- subject
- in
- IFAC Proceedings Volumes
- volume
- 35
- issue
- 2
- pages
- 6 pages
- publisher
- Elsevier
- DOI
- 10.1016/S1474-6670(17)33946-0
- project
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- RobotLab LTH
- Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.
- language
- English
- LU publication?
- yes
- id
- ce6b0e9a-651e-4db3-af5e-dc9919b669be
- date added to LUP
- 2022-06-21 10:38:14
- date last changed
- 2022-09-06 02:37:47
@article{ce6b0e9a-651e-4db3-af5e-dc9919b669be, abstract = {{We study an image-based visual servoing system implemented on a non-dedicated network with non-deterministic computational nodes. A problem is that time delays are typically non-deterministic and variable and may cause significant degradation of control system performance, stability and robustness if not compensated for. Another problem is the presence of noise due to information loss and measurement errors in the image and vision processing part of the loop also resulting in decreased control performance. This paper focuses on an image plane linear prediction strategy implemented using time-stamped data and a nonuniformly updating Kalman filter to compensate for time delays and noise. Control performance is experimentally verified by presenting prediction error measurements from an image-based visual servoing experiment of gripping a moving object using a 6-DOF industrial robot and uncalibrated cameras.}}, author = {{Bengtsson, Johan and Haage, Mathias and Johansson, Rolf}}, language = {{eng}}, number = {{2}}, pages = {{229--234}}, publisher = {{Elsevier}}, series = {{IFAC Proceedings Volumes}}, title = {{Variable Time Delays in Visual Servoing and Task Execution Control}}, url = {{http://dx.doi.org/10.1016/S1474-6670(17)33946-0}}, doi = {{10.1016/S1474-6670(17)33946-0}}, volume = {{35}}, year = {{2002}}, }