微型电脑应用2025，Vol.41Issue(3)：52-55,4.
基于数据融合的视觉伺服控制系统设计
Visual Servo Control System Design Based on Data Fusion
摘要
Abstract
In vision servo control system,time delay caused by camera image processing and information extraction often seri-ously affects the performance of the control system.Aimed at this problem,this paper designs a vision servo control system based on a two-stage cascaded Kalman filter framework.The time delay compensation for posture estimation is completed by the first-stage Kalman filter,and multi-sensor data fusion is performed in the second-stage Kalman filter,to realize the variable time delay compensation and asynchronous sensor data fusion with different sampling rates.The designed system is simulated and experimentally validated on a three degree of freedom robot.The results show that compared with the system without the cascaded Kalman filter framework,the positioning error of the designed system can be reduced by about 30％.关键词
伺服控制/卡尔曼滤波/机器人/数据融合Key words
servo control/Kalman filter/robot/data fusion分类
计算机与自动化引用本文复制引用
冯娜..基于数据融合的视觉伺服控制系统设计[J].微型电脑应用,2025,41(3):52-55,4.基金项目
陕西省教育厅科学研究计划资助项目(22JK0447) （22JK0447）
