球在平板上的鲁棒视觉伺服运动控制.pdfVIP

Mechatronics 13 (2003) 723–738 Robust visual servoing for motion control of the ball on a plate Jong Hyeon Park a,*, Young Jong Lee b a School of Mechanical Engineering, Hanyang University, Seoul 133-791, Republic of Korea b Department of Precision Mechanical Engineering, Hanyang University, Seoul 133-791, Republic of Korea Abstract This paper presents visual servoing control for a ball on a flat plate to track its desired trajectory. An industrial robot manipulator is used as the actuators to change the angle of the plate so that the ball can track its given trajectory on the plate. The center position of the ball is measured with a machine vision system. Based on the Euler estimator, an algorithm to find the center of the ball with interlaced-scanned image data is proposed. To cope with the variations in the surface characteristics of the plate, and the size and mass of the ball, a sliding- mode control is used for the visual servoing. Experimental results show that the proposed algorithm and the sliding-mode controller work well with robustness. 2002 Elsevier Science Ltd. All rights reserved. Keywords: Machine vision; Sliding-mode control; Visual servoing; Interlaced scanning 1. Introduction When a human operator performs a task, he or she uses various sensing organs to deal with any change or uncertainty involved in the task and the environment. Among many sensing organs, eye vision is the prime information route to gather the data on the environment in many tasks. The operator’s hand-eye coordination is a key to success in many cases. For robots, which have the capability of positioning their end-effectors very precisely, without sensors such as vision systems, they are limited to performing simple tasks in a pre-determined environment. As in human counterparts, o