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Visual Servo Control and Path Planning of Ball and Plate System

This thesis presents a visual servo control scheme for a ball-and-plate
system with a maze. The maze built on the plate forms obstacles for the ball
and increases variety and complexity of its environment. The ball-and-plate
system is a two degrees-of-freedom robotic wrist with an acrylic plate attached
as the end effector. By using image processing techniques, the ball¡¦s position is
acquired from the visual feedback, which was implemented with a webcam and
a personal computer. A fuzzy controller, which provides dexterity of the robotic
wrist, is designed to decide the slope angles of the plate to guide the ball to a
designated target spot. Using the method of distance transform, the path
planning based on the current position of the ball is conducted to find the
shortest path toward the target spot. Besides, a relaxed path, appears to be more
suitable for actual applications, is provided by the obstacle¡¦s expansion
approach.
Experimental results show that the presented control framework
successfully leads the ball to pass through the maze and arrive at target spot.
The visual servo control scheme works effectively in both stabilization and
tracking control. Based on this preliminary achievement, further improvement
and deeper exploration on related research topics can be carried on in the
future.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0902109-183744
Date02 September 2009
CreatorsChou, Chin-Chuan
ContributorsChen-Wen Yen, Chi-Cheng Cheng, Cheng-Yi Chen, Jau-Woei Perng
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageCholon
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0902109-183744
Rightsoff_campus_withheld, Copyright information available at source archive

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