In this paper, we present a vision guided robotic ball-beam balancing control\nsystem, consisting of a robot manipulator (actuator), a ball-beam system\n(plant) and a machine vision system (feedback). The machine vision system\nfeedbacks real-time beam angle and ball position data at a speed of 50 frames\nper second. Based on feedback data, the end-effector of a robot manipulator is\ndriven to control the ball position by maneuvering of the inclination angle of\nthe ball-beam system. The overall control system is implemented with two\nFPGA chips, one for machine vision processing, and one for robot joints servo\nPID controllers as well as ball position PD controller. Experiments are performed\non a 5-axes robot manipulator to validate the proposed ball beam balancing\ncontrol system.
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