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http://dx.doi.org/10.7471/ikeee.2021.25.1.148

Driving Control System applying Position Recognition Method of Ball Robot using Image Processing  

Heo, Nam-Gyu (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Lee, Kwang-Min (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Park, Seong-Hyun (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Kim, Min-Ji (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Park, Sung-Gu (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Chung, Myung-Jin (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Publication Information
Journal of IKEEE / v.25, no.1, 2021 , pp. 148-155 More about this Journal
Abstract
As robot technology advances, research on the driving system of mobile robots is actively being conducted. The driving system of a mobile robot configured based on two-wheels and four-wheels has an advantage in unidirectional driving such as a straight line, but has disadvantages in turning direction and rotating in place. A ball robot using a ball as a wheel has an advantage in omnidirectional movement, but due to its structurally unstable characteristics, balancing control to maintain attitude and driving control for movement are required. By estimating the position from an encoder attached to the motor, conventional ball robots have a limitation, which causes the accumulation of errors during driving control. In this study, a driving control system was proposed that estimates the position coordinates of a ball robot through image processing and uses it for driving control. A driving control system including an image processing unit, a communication unit, a display unit, and a control unit for estimating the position of the ball robot was designed and manufactured. Through the driving control experiment applying the driving control system of the ball robot, it was confirmed that the ball robot was controlled within the error range of ±50.3mm in the x-axis direction and ±53.9mm in the y-axis direction without accumulating errors.
Keywords
Ball robot; Driving Control System; Image Processing; Position Recognition; Balancing; Driving;
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