Visual Servoing with Time Delay

University essay from Lunds universitet/Institutionen för reglerteknik

Abstract: The purpose of this thesis was to examine the effects of time delay on a visual servoing system. We analyse the effect of time delays on a linear model of a robotic arm joint, as well as an ABB irb2400 robotic arm with 6 degrees of freedom. This master thesis is consequently divided into two separate parts. The first concern of the project is to deal with the design of the visual servoing system. In this part we explain how the image processing works and which are the things we have to pay intention. We speak also about the design of the process (controller, dynamic of the robot, etc). This is the preliminaries for experiments but also important to have a good simulation environment, with a model as close as possible of a true robot system. In the second part we analyse the effects of time delay on the system. We start with the simple model of one joint to have a base to work and after we repeat the analysis using the full model of the robot to see if the behaviour is the same. The real time behaviour is simulated using the TrueTime, which simulates a real time kernel with complex models of the timing of the controller. All this experiments have been simulated for an easier installation of the experiment protocol (no hardware problems). Another reason is that we had a robot simulator already implemented.

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