#5647. Generalization of reference filtering control strategy for 2D/3D visual feedback control of industrial robot manipulators

July 2026publication date
Proposal available till 22-05-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Mechanical Engineering;
Industrial and Manufacturing Engineering;
Computer Science Applications;
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Abstract:
This paper develops the application of the Dual Rate Dual Sampling Reference Filtering Control Strategy to 2D and 3D visual feedback control. This strategy allows to overcome the problem of sensor latency and to address the problem of control task failure due to visual features leaving the camera field of view. In particular, a Dual Rate Kalman Filter is used to generate inter-sample estimations of the visual features to deal with the problem of vision sensor latency, whereas a Dual Rate Extended Kalman Filter Smoother is used to generate more convenient visual features trajectories in the image plane.
Keywords:
industrial robot manipulator; multi rate control; Visual servoing

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