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

  • J. Ernesto Solanes
  • Josep Tornero
  • Leopoldo Armesto
  • Vicent Girbés
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6856)


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 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • J. Ernesto Solanes
    • 1
  • Josep Tornero
    • 1
  • Leopoldo Armesto
    • 1
  • Vicent Girbés
    • 1
  1. 1.Universitat Politècnica de ValènciaValènciaSpain

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