Machine vision based control of the ball and beam

Petrović, Ivan; Brezak, Mišel; Cupec, Robert

doi:10.1109/amc.2002.1026984

Cited by 14 publications

(12 citation statements)

References 3 publications

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“…This work used SIMULINK to simulate the model performance and then verified by a PID controller. Among those studies, the ball & beam model is mostly concentrated on motor driven actuator to control its torque to operate the beam motion [4][5][6]. Those papers were commonly use personal computer as control platform by introducing higher performance interface.…”

Section: Introductionmentioning

confidence: 99%

A new ball and beam system using magnetic suspension actuator

Lin

Ker

Wang

et al. 2005

31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005.

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This paper presents a ball & beam system using a pair of magnetic suspension actuators by applying precision position control in performance.System characteristics including magnetic actuator, linear position sensor, load current control and feedback loop are discussed. To achieve the control, a single chip microprocessor with basic level electronics is designed and implemented. The designed system model is derived from Lagrangian function for system controller implementation. Oscillatory stable operation and sinusoidal tracking operation are tested to verify the system performance and functional capability.

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Section: Introductionmentioning

confidence: 99%

A new ball and beam system using magnetic suspension actuator

Lin

Ker

Wang

et al. 2005

31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005.

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“…There are many approaches to applying beam inclination and ball position sensors; visual feedback is a common solution [8] [9] [10]. However, there are only few works for applying visual feedback to both beam inclination and ball position measurements.…”

Section: Introductionmentioning

confidence: 99%

Visual Feedback Balance Control of a Robot Manipulator and Ball-Beam System

Shih¹,

Hsu²,

Chang³

2017

JCC

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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.

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“…In such motor-mechanism coupled systems, the non-contact machine vision exhibits its merits to measure the output responses of the machine. In previous references (Petrovic & Brezak, 2002;Yong et al, 2001), the machine vision was implemented with the PI and PD controllers, but didn't concern about the robustness of the vision system associated with controllers. (Park & Lee, 2002) presented the visual servo control for a ball on a plate and tracked its desired trajectory by the SMC.…”

Section: Introductionmentioning

confidence: 99%

“…But there was no comparison with any other controller, and the mathematical equations of motion must be exactly obtained first, then the SMC can be implemented. (Petrovic & Brezak, 2002) applied the vision systems to motion control, in which the hard real-time constrains was put on image processing and was suitable for real-time angle measurement. In the autonomous vehicle (Yong et al, 2001), the reference lane was continually detected by machine vision system in order to cope with the steering delay and the side-slip of vehicle, and the PI controller was employed for the yaw rate feedback.…”

Section: Introductionmentioning

confidence: 99%