Abstract
In this paper, we present a vision guided robotic ball-beam balancing control system, consisting of a robot manipulator (actuator), a ball-beam system (plant) and a machine vision system (feedback). The machine vision system feedbacks real-time beam angle and ball position data at a speed of 50 frames per second. Based on feedback data, the end-effector of a robot manipulator is driven to control the ball position by maneuvering of the inclination angle of the ball-beam system. The overall control system is implemented with two FPGA chips, one for machine vision processing, and one for robot joints servo PID controllers as well as ball position PD controller. Experiments are performed on a 5-axes robot manipulator to validate the proposed ball beam balancing control system.
Highlights
Machine vision system can be applied in real-time to precisely measure visual properties such as color, length, angle, position, orientation, etc
We present a vision guided robotic ball-beam balancing control system, consisting of a robot manipulator, a ball-beam system and a machine vision system
The overall control system is implemented with two FPGA chips, one for machine vision processing, and one for robot joints servo PID controllers as well as ball position PD controller
Summary
Machine vision system can be applied in real-time to precisely measure visual properties such as color, length, angle, position, orientation, etc. The main goal of this machine vision based robot motion control system is to measure the ball position and beam angle in real-time, and to balance the ball at any desired point on the beam through the motion of a 5-axes robotic end-effector. This works focuses on an entirely FPGA based control implementation with input from a CMOS image sensor
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