3.5 High-speed visual feedback control

The proposed method with the simple deformation model includes a modeling error, and the error may affect the dynamic manipulation of the flexible object. In order to correspond to the modeling error, we introduce a high-speed visual feedback control using a high-speed vision system and a high-speed image processing technique. A block diagram of the high-speed visual feedback control is shown in Figure 5.

By appropriately setting the extraction of the image feature and applying the self-window method, it is possible to speed up the image processing. As a result, a high-speed visual feedback is realized. In our method, the sampling rate of the visual feedback control is set at 1 kHz which is the same as the sampling rate of the robot control.
