DocumentCode :
3329063
Title :
On-line estimation of time varying capture delay for vision-based vibration control of flexible manipulators deployed in hostile environments
Author :
Dubus, Gregory
Author_Institution :
F4E, Barcelona, Spain
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
3765
Lastpage :
3770
Abstract :
Thanks to recent advances in machine vision technology, vibration control of flexible manipulators using cameras have recently led to very promising results. However, in methods such as on-line sinusoidal regression, synchronization between the measured signal and the physical vibrational phenomenon is critical to properly damp vibrations. This paper comes back on the capture delay estimation as done in previous works and highlights the limitations of such a method. Then a new method using a synchronization sensor is proposed. Based on a cross-correlation technique, a novel algorithm for effective time delay estimation is derived. Experimental validation demonstrates that this method yields improved delay estimation which could be beneficial to the vibration damping.
Keywords :
cameras; damping; delay estimation; flexible manipulators; robot vision; synchronisation; time-varying systems; vibration control; cameras; cross-correlation technique; damp vibrations; delay estimation; flexible manipulators; hostile environments; machine vision; online estimation; online sinusoidal regression; synchronization; time varying capture delay; vision-based vibration control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5651211
Filename :
5651211
Link To Document :
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