Browse > Article
http://dx.doi.org/10.3795/KSME-A.2016.40.9.807

Real-Time Motion Tracking Detection System for a Spherical Pendulum Using a USB Camera  

Moon, Byung-Yoon (Dept. of Mechanical Engineering, Konkuk Univ.)
Hong, Sung-Rak (Dept. of Mechanical Engineering, Konkuk Univ.)
Ha, Manh-Tuan (Dept. of Mechanical Engineering, Konkuk Univ.)
Kang, Chul-Goo (Dept. of Mechanical Engineering, Konkuk Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.40, no.9, 2016 , pp. 807-813 More about this Journal
Abstract
Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.
Keywords
Spherical Pendulum; Motion Tracking; Detection System; Camera Vision; Input Shaping;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
1 Singer, N. C. and Seering, W. P., 1990, "Preshaping Command Inputs to Reduce System Vibration," ASME J. of Dynamic Systems, Measurement, and Control, Vol. 112, pp. 76-82.   DOI
2 Singhose, W., 2009, "Command Shaping for Flexible Systems: A Review of the First 50 Years," Int. J. of Precision Engineering & Manufacturing, Vol. 10, No. 4, pp. 153-168.   DOI
3 Pang, J.-H. and Park, Y.-S., 1997, "Input Design to Reduce Residual Vibration for a Nonlinear Time-Varying System," Trans. Korean Soc. Mech. Eng. A, Vol. 21, No. 7, pp. 1106-1115.   DOI
4 Kang, C.-G., 2011, "On the Derivative Constraints of Input Shaping Control," Journal of Mechanical Science and Technology, Vol. 25, No. 2, pp. 549-554.   DOI
5 Kang, C.-G., 2011, "Performance Measure of Residual Vibration Control," ASME J. of Dynamic Systems, Measurement, and Control, Vol. 133, pp. 044501-1-6.   DOI
6 Rew, K.-H., Ha, C.-W. and Kim, K.-S., 2013, "An Impulse-time Perturbation Approach for Enhancing the Robustness of Extra-insensitive Input Shapers," Automatica, Vol. 49, pp. 3425-3431.   DOI
7 Kang, C.-G. and Kwak, J.-H., 2014, "On a Simplified Residual Vibration Ratio Function for Input Shaping Control," Asian Journal of Control, Vol. 16, No. 1, pp. 277-283.   DOI
8 Dhanda, A. and Franklin, G. F., 2010, "Optimal Control Formulations of Vibration Reduction Problems," IEEE Transactions on Automatic Control, Vol. 55, pp. 378-394.   DOI
9 Smith, O. J. M., 1957, "Posicast Control of Damped Oscillatory Systems," Proceedings of the IRE, Vol. 45, pp. 1249-1255.   DOI
10 Kim, B.-G., 2010, A Study on Position Stabilization for Tower Crane Payload, M.S. Thesis, Kumoh National Institute of Technology. (Korean)
11 Woo, K. S., 2010, Residual Vibration Reduction of Flexible System Using Input Shaping Control, M.S. Thesis, Konkuk University. (Korean)
12 Hwang, B. I., Lee, B. H. and Kim, C. H., 2015, "The System Position from High Firing Rate of Anti-Aircraft Gun System," Trans. Korean Soc. Mech. Eng. A, Vol. 39, No. 6, pp. 611-615. (Korean)   DOI
13 Seo, B.-C., Kim, S.-S. and Lee, D.-Y., 2014, "Target-tracking System for Mobile Surveillance Robot using CAMShift Image Processing Technique," Trans. Korean Soc. Mech. Eng. A, Vol. 38, No. 2, pp. 129-136. (Korean)   DOI
14 Kim, D. K., 2011, OpenCV Programming, GaMe Publishing Co. (Korean)
15 http://newstyle.egloos.com/2707246, Red Color Seeking using OpenCV, 2016. (Korean)
16 Kang, C.-G., Ha, M.-T. and D.-c. Lee, "Two-dimensional Input Shaping Control for Improved Tracking of a SCARA Robot with a Spherical Pendulum," Proc. of Intern. Conf. on Intelligent Robots and Systems (IROS 2015), p. 4747, Hamburg, Germany.
17 Schulze, T. and Chang, T. N., 2010, "Zero Vibration Position Control of a Spherical Pendulum for Control Systems Demonstration," Proc. of American Control Conference, Baltimore, USA, pp. 738-743.
18 Perig, A. V., Stadnik, A. N., Deriglazov, A. I. and Podlesny, S. V., 2014, "3 DOF Spherical Pendulum Oscillations with a Uniform Slewing Pivot Center and a Small Angle Assumption," Shock and Vibration (Hindawi), Vol. 2014, Article ID 203709, pp.1-32.
19 Petrov, A. G., 2005, "On the Equations of Motion of a Spherical Pendulum with a Fluctuating Support," Doklady Physics, Vol. 50, No. 11, pp. 588-592.   DOI
20 Craig, J. J., 2005, Introduction to Robotics: Mechanics and Control (3rd ed.), Pearson Prentice Hall.
21 Ha, M.-T. and Kang, C.-G., 2015, "Wirelesscommunicated Computed-torque Control of a SCARA Robot and Two-dimensional Input Shaping for a Spherical Pendulum," Proc. of the 12th Intern. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI 2015), pp. 58-62, KINTEX, Korea.
22 Jeong, B.-R., 2010, Real-time 3D Position Tracking Using a Feature Information of an Object, M.S. Thesis, Kangwon National University.