1012 予測を用いたビジュアルサーボイングシステムの高精度追従制御

概要

論文の詳細を見る
In this paper, we address the problem of predicting the trajectory of the moving target, in order to compensate the time delay. The goal is to achieve the high accuracy tracking control in visual servoing system. Since the dynamics of the target are assumed to be unknown, based on the available information on the target polynomial trend model or Autoregressive model is constructed to predict the future information on the target. The well-known least squares method is used to estimate the model parameters. On the decision of the order of model, we propose the method is used to estimate the model parameters. On the decision of the order of model, we propose the method for real-time selecting the optimal order by AIC. To demonstrate the effectiveness of the prediction, real-time experiments in the system consist of 3 DOF manipulator and fixed stereovision configuration are presented. As a result, it succeeded to about 50% in the decrease of tracking error in comparison with the case in which there was no prediction.
一般社団法人日本機械学会の論文