About: Positional Visual Feedback Control

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper discusses closing a positional visual feedback to control of servo drives. Visual feedback was applied to a model of a billiard ball juggler and the closed control loop was demonstrated by a program, juggling with a single billiard ball. In the work, problems caused by a non real time operating system used for measurement are discussed, as well as communication delay on TCP/IP network. For tracking of a billiard ball, Kalman filter algorithm was utilized and adjusted, so as to be able to handle missing measurement samples. Kalman filter estimates the state of the flying ball and sends it to the predictor, which computes the catch point. The computed catch point is then sent to the control PLC in advance, so that the servo drives could adjust their position in time. This paper discusses closing a positional visual feedback to control of servo drives. Visual feedback was applied to a model of a billiard ball juggler and the closed control loop was demonstrated by a program, juggling with a single billiard ball. In the work, problems caused by a non real time operating system used for measurement are discussed, as well as communication delay on TCP/IP network. For tracking of a billiard ball, Kalman filter algorithm was utilized and adjusted, so as to be able to handle missing measurement samples. Kalman filter estimates the state of the flying ball and sends it to the predictor, which computes the catch point. The computed catch point is then sent to the control PLC in advance, so that the servo drives could adjust their position in time. (en)
Title	Positional Visual Feedback Control Positional Visual Feedback Control (en)
skos:prefLabel	Positional Visual Feedback Control Positional Visual Feedback Control (en)
skos:notation	RIV/68407700:21230/07:00129964!RIV12-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(1P04LA232)
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Němec, Tomáš
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	442527
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/07:00129964
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Visual servoing; ball catching; tracking (en)
http://linked.open.../riv/klicoveSlovo	tracking Visual servoing ball catching
http://linked.open...ontrolniKodProRIV	[85FA0C957D24]
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...vavai/riv/projekt	IFAC-work in Technical Committee on Computers for Control
http://linked.open...UplatneniVysledku	2007
http://linked.open...iv/tvurceVysledku	Němec, Tomáš
http://localhost/t...ganizacniJednotka	21230

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