0
RESEARCH PAPERS

Multi-Rate Analysis and Design of Visual Feedback Digital Servo-Control System

[+] Author and Article Information
Mahadevamurty Nemani, Tsu-Chin Tsao

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

Seth Hutchinson

Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

J. Dyn. Sys., Meas., Control 116(1), 45-55 (Mar 01, 1994) (11 pages) doi:10.1115/1.2900680 History: Received October 13, 1992; Revised March 18, 1993; Online March 17, 2008

Abstract

This paper addresses the analysis and design of digital motion control system with machine vision as a feedback measurement in the servo loop. The camera vision is modeled as a discrete time-delayed sensor. A multirate formulation is proposed based on the fact that vision update rate is slower than the digital servo-control update rate and is analyzed through the lifting technique which converts the periodic time varying multirate system to a time invariant one. Some interesting properties of this specific multirate system are found and are utilized in control system design. An l -1 norm optimal control problem is formulated to minimize the maximum time domain error, which has direct connection to camera field of view and mechanical tolerance. A numerical example is given to demonstrate the presented methods.

Copyright © 1994 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In