A state observer for using a slow camera as a sensor for fast control applications

Reinhard Gahleitner; Martin Schagerl

doi:10.1117/12.2006106

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6 March 2013 A state observer for using a slow camera as a sensor for fast control applications

Reinhard Gahleitner, Martin Schagerl

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Proceedings Volume 8661, Image Processing: Machine Vision Applications VI; 866104 (2013) https://doi.org/10.1117/12.2006106
Event: IS&T/SPIE Electronic Imaging, 2013, Burlingame, California, United States

Abstract

This contribution concerns about a problem that often arises in vision based control, when a camera is used as a sensor for fast control applications, or more precisely, when the sample rate of the control loop is higher than the frame rate of the camera. In control applications for mechanical axes, e.g. in robotics or automated production, a camera and some image processing can be used as a sensor to detect positions or angles. The sample time in these applications is typically in the range of a few milliseconds or less and this demands the use of a camera with a high frame rate up to 1000 fps. The presented solution is a special state observer that can work with a slower and therefore cheaper camera to estimate the state variables at the higher sample rate of the control loop. To simplify the image processing for the determination of positions or angles and make it more robust, some LED markers are applied to the plant. Simulation and experimental results show that the concept can be used even if the plant is unstable like the inverted pendulum.

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Reinhard Gahleitner and Martin Schagerl "A state observer for using a slow camera as a sensor for fast control applications", Proc. SPIE 8661, Image Processing: Machine Vision Applications VI, 866104 (6 March 2013); https://doi.org/10.1117/12.2006106

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