Robust visual servoing for motion control of the ball on a plate

摘要

This paper presents visual servoing control for a ball on a flat plate to track its desired trajectory. An industrial robot manipulator is used as the actuators to change the angle of the plate so that the ball can track its given trajectory on the plate. The center position of the ball is measured with a machine vision system. Based on the Euler estimator, an algorithm to find the center of the ball with interlaced-scanned image data is proposed. To cope with the variations in the surface characteristics of the plate, and the size and mass of the ball, a sliding-mode control is used for the visual servoing. Experimental results show that the proposed algorithm and the sliding-mode controller work well with robustness.