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Variable Time Delays in Visual Servoing and Task Execution Control

Bengtsson, Johan LU ; Haage, Mathias LU and Johansson, Rolf LU orcid (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:
author
; and
organization
publishing date
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}},
}