Towards Autonomous Robotic Systems

Volume 6856 of the series Lecture Notes in Computer Science pp 195-206

Multi-rate Visual Servoing Based on Dual-Rate High Order Holds

  • J. Ernesto SolanesAffiliated withUniversitat Politècnica de València
  • , Josep TorneroAffiliated withUniversitat Politècnica de València
  • , Leopoldo ArmestoAffiliated withUniversitat Politècnica de València
  • , Vicent GirbésAffiliated withUniversitat Politècnica de València

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This paper describes a multi-rate approach based on the extensive use of Dual-rate High Order Holds for visual servoing systems. Moreover a complete description of a general multi-rate approach, comparing Dual-rate Image-Based Visual Servoing algorithm with Dual-rate PID controller, where the PID is separated into its two different dynamics, using two different sampling periods is presented. In addition, a multi-rate Kalman filter is compared with Dual-rate High Order Holds, as an attempt to extend the use of this kind of interfaces to the estimation process. Results are obtained by simulation and also using a 6-DOF industrial robot (KUKA KR5 sixx R650) for the case of tracking objects with fast movement. This paper has validated the use of Dual-rate High Order Holds in non-linear systems, in general, and in robot visual servoing, in particular.


Visual Servoing Multi-rate control non-linear systems