Conference paper
Performance-oriented networked visual servo control with sending rate scheduling
Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Germany1
In order to speed up image processing in visual servoing, the distributed computational power across networks and appropriate data transmission mechanisms are of particular interest. In this paper, a high sampling rate of visual feedback is achieved by distributed computation on a cloud image processing platform.
For target tracking with a networked visual servo control system, a switching control law considering the varying feedback delay caused by image processing and data transmission is applied to improve the control performance. A sending rate scheduling strategy aiming at saving the network load is proposed based on the tracking error.
Experiments on a 7 degree-of-freedom (DoF) manipulator are carried out to validate the proposed approach. The proposed approach shows a similar control performance as a system without sending rate scheduling, however, beneficially with largely reduced network load.
| Language: | English |
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| Publisher: | IEEE |
| Year: | 2011 |
| Pages: | 6180-6185 |
| Proceedings: | 2011 IEEE International Conference on Robotics and Automation (ICRA) |
| ISBN: | 1457718995 , 1612843808 , 1612843832 , 1612843859 , 1612843867 , 9781457718991 , 9781612843803 , 9781612843834 , 9781612843858 and 9781612843865 |
| ISSN: | 10504729 and 2577087x |
| Types: | Conference paper |
| DOI: | 10.1109/ICRA.2011.5979989 |
7 DoF manipulator Control systems Delay Image processing Manipulators Servers Target tracking Visualization cloud image processing platform data communication data transmission mechanisms distributed computational power distributed parameter systems feedback manipulators networked control systems performance-oriented networked visual servo control robot vision sending rate scheduling strategy switching control law target tracking telecommunication control time-varying systems varying feedback delay visual feedback visual servoing
