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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/32269
Title: | 虛擬取樣於影像伺服追蹤系統之應用 The application of virtual sampling in visual servo tracking system |
Authors: | Jyun-Sian Li 李俊賢 |
Advisor: | 陳明新(Ming-Hsin Chen) |
Keyword: | 影像伺服,適應控制,虛擬取樣, visaul servo,adaptive control,virtual sampling, |
Publication Year : | 2006 |
Degree: | 碩士 |
Abstract: | 由於影像伺服追蹤系統受限於攝影機較低的取樣速度,造成整體追蹤性能不佳。在本文中,我們提出適應性預測及內插方法。藉由此方法,得到高取樣速度下目標物運動軌跡的虛擬取樣位置,並配合伺服馬達做高速度取樣的追蹤控制,以改善整體追蹤效能。
結果顯示,使用高階的適應性線性軌跡模型做預測,配合曲線內插方法可估測出較準確的物體運動軌跡。一個低取樣速度系統,在加入預測性內插後,其追蹤效能近似高取樣速度系統。 The tracking performance of visual servo system is limited by the low sampling rate of camera. In this thesis, we present an adaptive prediction and interpolation method. Through this method, we could get the virtual sampling values of motion trajectory of target at high sampling rate. According to the high sampling rate trajectory, the servo motor could perform high speed tracking control. The results show that we could get more accurate motion trajectory by using high order linear model for adaptive estimation. In addition, the tracking performance of low sampling rate system in cooperated with the predictive interpolation will approach that of high sampling rate system. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/32269 |
Fulltext Rights: | 有償授權 |
Appears in Collections: | 機械工程學系 |
Files in This Item:
File | Size | Format | |
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ntu-95-1.pdf Restricted Access | 2.62 MB | Adobe PDF |
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