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

摘要

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.