Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (17): 260-268.DOI: 10.3778/j.issn.1002-8331.2007-0449

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Optimization of Robot Delay Using Events and Deadline Control

XU Yangyang,LI Wei,WANG Jie   

  1. 1.School of Mechanical and Electrical Engineering, Zhengzhou University of Industrial Technology, Zhengzhou 451100, China
    2.School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, China
  • Online:2021-09-01 Published:2021-08-30



  1. 1.郑州工业应用技术学院 机电工程学院,郑州 451100
    2.郑州大学 电气工程学院,郑州 450001


With the advancement of science and technology, the field of robotics has developed rapidly. In order to better adapt robots to complex working environments, it is necessary to further improve the perception performance of robots. Most robots use vision as a means of perception. However, because the image contains a large amount of data and it takes a lot of time to process the data, the robot has a significant delay, which leads to a decrease in the performance of the robot. Therefore, in order to solve this problem, a deadline-driven and event-driven control method is proposed. The core of the method is to apply the idea of model-based control design method to the robot motion control based on the vision-based self-positioning algorithm. At the same time, the delay of a simple positioning algorithm based on random sample consistency is considered. Experimental results prove that the proposed deadline-driven and event-driven control design is significantly better than the traditional cycle control.

Key words: image processing, deadline-driven control, event-driven control, delay optimization, machine vision



关键词: 图像处理, 期限驱动控制, 事件驱动控制, 延时优化, 机器视觉