Dynamic effects in visual closed-loop systems
Dynamic effects in visual closed-loop systems
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DOI：
10.1109/70.538973
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发表时间：
1996-10-01
期刊：
影响因子：
--
通讯作者：
Good, MC
中科院分区：
文献类型：
--
作者：
Corke, PI;Good, MC
在本文中，我们认为许多视觉伺服文献的重点一直放在视觉控制的运动学上，而忽略了一些基本的和重要的动态控制问题。为此，引入了视觉动态控制的概念，该概念涉及由于机械手和机器视觉传感器限制性能而产生的动态影响，为了实现高性能控制，必须明确解决这些问题。本文使用仿真和实验来研究反馈控制问题，如补偿器的选择，以及在视觉伺服系统中使用轴位置，速度或扭矩控制内环。针对视觉反馈控制的局限性，对目标速度前馈控制进行了研究，并将其与轴向速度控制相结合，实现了鲁棒、高性能的跟踪。
In this paper we argue that the focus of much of the visual servoing literature has been on the kinematics of visual control and has ignored a number of fundamental and significant dynamic control issues. To this end the concept of visual dynamic control is introduced which is concerned with dynamic effects due to the manipulator and machine vision sensor which limit performance, These must be explicitly addressed in order to achieve high-performance control,The paper uses simulation and experiment to investigate feedback control issues such as choice of compensator, and the use of axis position, velocity or torque controlled inner-loops within the visual servo system, The limitations of visual feedback control lead to the investigation of target velocity feedforward control, which combined with axis velocity control, is shown to result in robust and high performance tracking.