Title :
Vision based orientation detection method and control of a spherical motor
Author :
Wang, Qunjing ; Qian, Zhe ; Li, Guoli
Author_Institution :
Sch. of Electr. Eng. & Autom., Hefei Univ. of Technol., Hefei, China
Abstract :
The paper presents the orientation detection method of spherical motor based on machine vision to solve the problem about the measurement of the rotor position. A camera is used to capture the image of the rotor painted with special pattern. The position information of the rotor can be derived by analyzing the image. The model of the measurement system is simulated in OpenGL and the measurement errors of the system when rotor rotates around single axis and multi-axis are analyzed in detail. The paper also introduces a new structure of spherical motor. Using nonlinear dynamic model and PD control algorithm, simulation of the desired motion is carried out. The simulation results provide reference for motion control research and spherical design.
Keywords :
PD control; computer graphics; computer vision; control engineering computing; image sensors; machine control; motion control; nonlinear dynamical systems; position control; rotors; OpenGL; PD control; camera; machine vision; motion control research; nonlinear dynamic model; rotor image; spherical motor control; vision based orientation detection method; Analytical models; Cameras; Image analysis; Information analysis; Machine vision; Measurement errors; Nonlinear dynamical systems; Position measurement; Rotation measurement; Rotors;
Conference_Titel :
Circuits and Systems (MWSCAS), 2010 53rd IEEE International Midwest Symposium on
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-7771-5
DOI :
10.1109/MWSCAS.2010.5548861
