期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：149
DOI：10.5772/52035
语种：English
出版社：SAGE Publications
摘要：Visual servoing has been around for decades, but time delay is still one of the most troublesome problems to achieve target tracking. To circumvent the problem, in this paper, the Kalman filter is employed to estimate the future position of the object. In order to introduce the Kalman filter, accurate time delays, which include the processing lag and the motion lag, need to be obtained. Thus, the delays of the visual control servoing systems are discussed and a generic timing model for the system is provided. Then, we present a current statistical model for a moving target. A fuzzy adaptive Kalman filter, which is evolved from the Kalman filter, is introduced based on the current statistical model. Finally, a two DOF visual controller based variable structure control law for micro-manipulation is presented. The results show that the proposed adaptive Kalman filter can improve the ability to track moving targets.
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