TY - GEN
T1 - Visual servoing of an inverted pendulum on cart using a mounted smartphone
AU - Brill, Anthony
AU - Frank, Jared A.
AU - Kapila, Vikram
PY - 2016/7/28
Y1 - 2016/7/28
N2 - Over the last several decades, visual servoing - A vision-based control approach-has been explored as a popular and inexpensive contactless measurement alternative for a variety of industrial robotic systems. Moreover, recent years have witnessed rapid advancements in mobile device applications that have pushed the envelope in the capabilities of smartphone cameras. In this paper, an eye-in-hand pose-based visual servoing (PBVS) approach is presented wherein a smartphone mounted to an inverted pendulum on cart (IPC) system measures both the translational position of a motorized cart and the angular orientation of a pendulum arm for the purpose of feedback control. To perform vision-based control of the IPC system, a discrete-time linear quadratic gaussian (LQG) controller is implemented. Experimental results are presented to characterize the relationships between the frame rate and image resolution of the smartphone camera, processing and wireless communication delays, the measurement noise, and the performance of the closed-loop system.
AB - Over the last several decades, visual servoing - A vision-based control approach-has been explored as a popular and inexpensive contactless measurement alternative for a variety of industrial robotic systems. Moreover, recent years have witnessed rapid advancements in mobile device applications that have pushed the envelope in the capabilities of smartphone cameras. In this paper, an eye-in-hand pose-based visual servoing (PBVS) approach is presented wherein a smartphone mounted to an inverted pendulum on cart (IPC) system measures both the translational position of a motorized cart and the angular orientation of a pendulum arm for the purpose of feedback control. To perform vision-based control of the IPC system, a discrete-time linear quadratic gaussian (LQG) controller is implemented. Experimental results are presented to characterize the relationships between the frame rate and image resolution of the smartphone camera, processing and wireless communication delays, the measurement noise, and the performance of the closed-loop system.
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U2 - 10.1109/ACC.2016.7525101
DO - 10.1109/ACC.2016.7525101
M3 - Conference contribution
AN - SCOPUS:84992017426
T3 - Proceedings of the American Control Conference
SP - 1323
EP - 1328
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -