Discrete switching commands for tracking and vibration suppression using a quantized, compliant camera orientation system
Discrete switching commands for tracking and vibration suppression using a quantized, compliant camera orientation system
复制标题
使用量化、兼容的相机定向系统进行跟踪和振动抑制的离散切换命令
DOI：
10.1109/icra.2016.7487723
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Ueda
中科院分区：
文献类型：
--
作者：
M. Kim;J. Ueda
本文提出了一种为摄像机定位系统生成离散切换命令的方法，该系统表现出量化和灵活性，以实现平滑追逐类运动。现有的减振技术和相机定位装置已经显示出显着的效果，但只关注点对点的运动。通过将经典反馈控制器与PWM量化相结合，可以生成所需的运动轮廓，但每个单元执行器都需要产生高频开关，这可能会损坏投诉机构。所提出的控制器产生脉冲式切换命令，用于平滑追逐类运动，以匹配感兴趣对象的速度。然后，生成用于抑制振动的切换命令，以避免高频切换。利用一个共有32个压电致动器的机器人系统对所提出的方法进行了评估。实验结果表明，在开环的情况下，摄像机定位系统成功地实现了动态视觉。
This paper presents a method to generate discrete switching commands for a camera orientation system exhibiting quantization and flexibility to achieve smooth-pursuit like movements. Existing vibration suppression techniques and camera positioning devices have shown notable results but focused only on point-to-point movements. A desired motion profile can be generated by incorporating a classical feedback controller with PWM quantization but each unit actuator is required to produce high-frequency switching that can potentially damage the complaint mechanism. The proposed controller generates pulse-like switching commands for smooth-pursuit like motion to match the velocity of an object of interest. Then, switching commands for vibration suppression are generated to avoid high-frequency switching. The proposed method has been evaluated by using a robotic system which has a total of 32 piezoelectric actuator. The experiment results show that the camera orientation system successfully achieved dynamic vision given the proposed commands in an open-loop manner.