401 軌道予測を用いた高精度追従制御

概要

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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 servo system. Since the dynamics of the target are assumed to be unknown, based on the available information on the target polynomial trend model is constructed to predict the future position on the target. The well-known least squares method is used to estimate the model parameters. We propose the method for real-time selecting the optimal order. 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, by predicting the trajectory of target using the proposal technique showed that a tracking error decreased.
社団法人日本機械学会の論文
2003-10-30