6 DOF Multirate Visual Servoing for Quick Moving Objects

This paper presents a visual servoing of 6 degree-of-freedom (DOF) manipulator based on repetitive perfect tracking control (RPTC). In general, the sampling period of vision sensor is longer than that of joint servo in visual servo systems. To compensate the time delay of vision sensor, we apply multirate control technique. This paper applies perfect tracking control (PTC) with periodic signal generator in order to follow the moving object with high-order periodic motion. By the proposed approach, tracking error and computation cost are reduced compared with a conventional observer based method which is called repetitive intersample disturbance rejection (RIDR).