Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

Ho, Ming-Tzu and Rizal, Yusie and Chu, Li-Ming (2013) Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation. International Journal of Advanced Robotic Systems, 10 (7). pp. 1-22.

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Official URL: https://journals.sagepub.com/doi/abs/10.5772/56525

Abstract

This paper presents the design, implementation and validation of real‐time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA) device to meet realtime constraints. A detailed dynamic model of the system is derived for the simulation study.By neglecting the high‐order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate inputoutput feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP). The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

Item Type: Article
Uncontrolled Keywords: Visual Servoing, Ball And Plate System, Feedback Linearization
Subjects: T Technology > TK Electrical engineering. Electronic Engineering. Nuclear engineering > TK7800 Electronics
Divisions: Jurusan Teknik Elektro > D3 Elektronika
Depositing User: Mr. Yusie Rizal
Date Deposited: 20 Mar 2019 07:16
Last Modified: 20 Mar 2019 07:16
URI: http://repository.poliban.ac.id/id/eprint/129

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