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Adaptive Reibungskompensation zur Verbesserung des Folgeverhaltens bei Visual Servoing

Adaptive friction compensation to improve tracking behaviour using visual servoing

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Zusammenfassung

In der vorliegenden Arbeit wird der Einsatz einer adaptiven Reibungskompensation zur Verbesserung des Folgeverhaltens bei klassischen Bewegungsregelungen für Visual Servoing untersucht. Dabei ist hier unter Visual Servoing die Bewegungsregelung zur Verfolgung eines bewegten Objekts, beispielsweise mittels Roboter und Greifer, zu verstehen, bei der die Position des Objekts mittels Bildverarbeitung gewonnen wird. Durchgeführt wurden diese Untersuchungen an einem XY-Linearachsensystem mittels Simulationen und Echtzeitmessungen. Sie zeigen, dass sich bei klassischen Bewegungsregelungen für Visual Servoing durch eine adaptive Reibungskompensation das Folgeverhalten deutlich verbessern lässt und welche speziellen Probleme bei solchen Regelungen bei Visual Servoing auftreten können.

Abstract

The vollowing article surveys the application of adaptive friction compensation to improve tracking behaviour using classical methods of motion control for visual servoing. Visual servoing is the use of motion control in order to follow a moving object, e.g. by the use of a robot and a gripping device. The position of the object is captured through image processing. The survey has been carried out on an XY-linear axis system using simulations and real time measurements. It shows that the tracking behaviour with classical motion control using visual servoing can be considerably improved by adaptive friction compensation. Problems which occur using such methods of motion control with visual servoing are also displayed.

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Authors and Affiliations

  1. Institut für Automatisierungs- und Regelungstechnik, Technische Universität Wien, Gußhausstraße 27-29/376, A-1040, Wien

    A. J. Kimmersdorfer Dipl.-Ing., Univ.-Ass. & R. Noisser Ao. Univ.-Prof. Dipl.-Ing. Dr. techn.

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  1. A. J. Kimmersdorfer Dipl.-Ing., Univ.-Ass.
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  2. R. Noisser Ao. Univ.-Prof. Dipl.-Ing. Dr. techn.
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Kimmersdorfer, A.J., Noisser, R. Adaptive Reibungskompensation zur Verbesserung des Folgeverhaltens bei Visual Servoing. Elektrotech. Inftech. 121, 64–71 (2004). https://doi.org/10.1007/BF03054969

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  • DOI: https://doi.org/10.1007/BF03054969

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