Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Intelligent Balancing Control of Inverted Pendulum on a ROBOKER Arm Using Visual Information

영상 정보를 이용한 ROBOKER 팔 위의 역진자 시스템의 지능 밸런싱 제어 구현

  • 김정섭 (삼성전자) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2011.03.27
  • Accepted : 2011.08.25
  • Published : 2011.10.25
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Abstract

This paper presents balancing control of inverted pendulum on the ROBOKER arm using visual information. The angle of the inverted pendulum placed on the robot arm is detected by a stereo camera and the detected angle is used as a feedback and tracking error for the controller. Thus, the overall closed loop forms a visual servoing control task. To improve control performance, neural network is introduced to compensate for uncertainties. The learning algorithm of radial basis function(RBF) network is performed by the digital signal controller which is designed to calculate floating format data and embedded on a field programmable gate array(FPGA) chip. Experimental studies are conducted to confirm the performance of the overall system implementation.

본 논문에서는 영상 정보를 이용하여 로보커 팔위의 역진자의 밸런싱 제어를 한다. 로봇 팔위에 놓인 역진자의 각도는 카메라로 검출하고 검출된 각도 값은 제어기로 귀환되어 오차를 생성한다. 따라서 전체 제어루프는 폐회로 루프를 형성한다. 제어 성능을 높이기 위해 기존 선형제어기에 신경망 제어기를 더하였다. RBF 네트워크의 학습 알고리즘은 FPGA에 설계된 부동소수점 연산이 가능한 디지털 제어기에 의해 수행된다. 실험을 통하여 전체 시스템 성능을 검증하였다.

Keywords

References

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