209 本体姿勢変動のない宇宙ロボットの制御 : カルマンフィルタを利用した画像情報遅れ補償(ビジュアルフィードバック制御,OS-1 先端的・萌芽的制御技術とその応用)

Abstract

Time delay by image processing exists in the information acquired from a CCD camera. Since the renewal time of image information is longer than sampling time of control, control delay occurs and the following performance to a target trajectory is not good enough. In this paper, in order to compensate image information delay, we propose the method that combined Kalman filter, time delay compensation, and state estimation between sample points. Advantages of the proposed method are demonstrated by simulations and experiments in case all of relative joint angles are detectable from image processing data.