"Positional Visual Feedback Control" . . "442527" . . . . "N\u011Bmec, Tom\u00E1\u0161" . "RIV/68407700:21230/07:00129964" . "1"^^ . "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." . . . "21230" . "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 . "1"^^ . "P(1P04LA232)" . . "[85FA0C957D24]" . . "Visual servoing; ball catching; tracking"@en . . . "Positional Visual Feedback Control"@en . . . . . "Positional Visual Feedback Control" . "RIV/68407700:21230/07:00129964!RIV12-MSM-21230___" . "Positional Visual Feedback Control"@en . .