Camera as Position Sensor for a Ball and Beam Control System
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| Format: | Artículo científico |
| Langue: | en |
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Instituto Politécnico Nacional
2015
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| author | Alejandro-Israel Barranco-Gutiérrez |
| author_facet | Alejandro-Israel Barranco-Gutiérrez |
| contents | Camera as Position Sensor for a Ball and Beam Control System Alejandro-Israel Barranco-Gutiérrez Jesús Sandoval-Galarza Saúl Martínez-Díaz Computación linear control Computer vision ball and beam system This paper describes a novel strategy to use a digital camera as a position sensor to control a ball and beam system. A linear control law is used to position the ball at the desired location on the beam . The experiments show how this method controls the position ing of the ball in any location on the beam usin g a camera with a sampling rate of 30 f rames p er s econd (fps) , and these results are compar ed with those obtained by using an analog resistive sensor with a feedback signal sampled at a rate of 1000 samples per second . The m echanical characteristics of this ball and beam system are used to simplify the calculation of the ball position using our vision system, and to eas e camera calibration with respect to the ball and beam system . Our proposal use s a circularity feature of blobs in a binary image, instead of the classic correlation or Hough transform techniques for ball tracking. The main control system is implemented in Simulink with Real Time Workshop (RTW) and vision processing with OpenCV libraries . 2015 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61539886006 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.19 |
| format | Artículo científico |
| id | redalyc_61539886006 |
| institution | Redalyc |
| language | en |
| publishDate | 2015 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Camera as Position Sensor for a Ball and Beam Control System Alejandro-Israel Barranco-Gutiérrez Computación linear control Computer vision ball and beam system Camera as Position Sensor for a Ball and Beam Control System Alejandro-Israel Barranco-Gutiérrez Jesús Sandoval-Galarza Saúl Martínez-Díaz Computación linear control Computer vision ball and beam system This paper describes a novel strategy to use a digital camera as a position sensor to control a ball and beam system. A linear control law is used to position the ball at the desired location on the beam . The experiments show how this method controls the position ing of the ball in any location on the beam usin g a camera with a sampling rate of 30 f rames p er s econd (fps) , and these results are compar ed with those obtained by using an analog resistive sensor with a feedback signal sampled at a rate of 1000 samples per second . The m echanical characteristics of this ball and beam system are used to simplify the calculation of the ball position using our vision system, and to eas e camera calibration with respect to the ball and beam system . Our proposal use s a circularity feature of blobs in a binary image, instead of the classic correlation or Hough transform techniques for ball tracking. The main control system is implemented in Simulink with Real Time Workshop (RTW) and vision processing with OpenCV libraries . 2015 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61539886006 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.19 |
| title | Camera as Position Sensor for a Ball and Beam Control System |
| topic | Computación linear control Computer vision ball and beam system |
| url | https://www.redalyc.org/articulo.oa?id=61539886006 |