Design of a vision system as a coordinate measurement sensor in a 2D gantry crane control system

2D crane conveying system is a suitable example for applying the control theories. As precise instrument tools are usually conveyed with this kind of cranes, it is essential to control the vibrations during the motion. This paper deals with the control of the crane´s angle during the motion. Basically, the goal of the paper is find the exact position of the load. Since the load is hanged by a flexible rope, using angles sensor can not be accurate. Hence, the use of a camera can provide the simplest technique for this purpose.