6 DOF Multirate Visual Servoing for Quickly Moving Objects

摘要

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, this paper applies multirate control method to visual servo systems of 6 DOF robot manipulator. The proposed method applies perfect tracking control (PTC) method with signal generator in order to follow the moving object with high-order periodic motion. With this method, computation cost is reduced compared with a conventional observer based method.