The application of virtual sampling in visual servo tracking system
Date Issued
2006
Date
2006
Author(s)
Li, Jyun-Sian
DOI
en-US
Abstract
The tracking performance of visual servo system is limited by the low sampling rate of camera. In this thesis, we present an adaptive prediction and interpolation method. Through this method, we could get the virtual sampling values of motion trajectory of target at high sampling rate. According to the high sampling rate trajectory, the servo motor could perform high speed tracking control.
The results show that we could get more accurate motion trajectory by using high order linear model for adaptive estimation. In addition, the tracking performance of low sampling rate system in cooperated with the predictive interpolation will approach that of high sampling rate system.
Subjects
影像伺服
適應控制
虛擬取樣
visaul servo
adaptive control
virtual sampling
Type
thesis
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