Time-analysis of a real-time sensor-servoing system using line-of-sight path tracking

Author

Schrimpf, Johannes ; Lind, Morten ; Mathisen, Geir

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

2861

Lastpage

2866

Abstract

This paper presents a study of the real-time control conditions for a robotic system with visual servo control. The system is based on an industrial manipulator with a modified controller allowing real-time joint-level control. The work is particularly concerned with delays and path deviations. The focus is on the Line-of-Sight based path tracking controller. The paper describes an analysis of the different delays in the sensor-robot system and a model is presented based on the overall delay. Further the stability of the modeled system is analyzed in respect to a specific control case. The correctness of the estimated system delay is indicated by comparison of simulated and experimental results.

Keywords

delay systems; industrial manipulators; path planning; robot vision; stability; tracking; visual servoing; industrial manipulator; line-of-sight based path tracking controller; path deviation; real-time control condition; real-time joint-level control; real-time sensor-servoing system; robotic system; sensor-robot system; stability; system delay; time-analysis; visual servo control; Cameras; Delay; Joints; Real time systems; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094469

Filename

6094469