Hough変換を用いた計測時間遅れを有するビジュアルサーボ系の推定誤差修正法(機械力学,計測,自動制御)

概要

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Visual servo system is a robotic servo mechanism that incorporates the vision sensor in the feedback loop. However, it is difficult to measure object's positions of real time using vision sensors. Moreover, the other sensors can't make an accurate estimate the object's positions. Because position is calculated by measured velocity using other sensors, the estimating error accumulates with time. For example, the other sensors are gyroscope sensor, accelerometer and so on. We make the robotic mechanism that incorporates other sensors and vision sensor in a feedback loop. ln this study, we propose a reduction method of accumulation error using visual sensor. The estimating value is undated every few sampling period by the image processing of captured image. The process is used Hough transform. The present visual servo system makes partially delayed feedback system in terms of the estimating value. Finally, the experimental results are provided and the usefulness of this technique is confirmed.
一般社団法人日本機械学会の論文
2003-08-25