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Vision-based control for trajectory tracking of four-bar linkage

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Abstract

It is well-known that mechanical sensors suffer failure in hostile environments. Therefore, in such applications, vision control is a suitable solution. In this paper, we propose a new approach for design and implementation of the control system for the speed of the coupler point in a four-bar linkage. To measure the coupler point position a computational vision system is implemented; the vision system sends the controller the precise position of the desired point for a wide range of crank rotational speeds. A proportional integral derivative control system is designed and implemented in a microprocessor. Stability analysis for the controlled system is performed via the Lyapunov stability theory. Performance of the system is validated experimentally in a prototype of a planar mechanism obtaining an average square error of measurement less than 0.03% and regulation of operating point less than 1% for different speed references.

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Authors and Affiliations

  1. Facultad de Ingeniería de la Universidad Autónoma de Yucatán, Mérida, Yucatán, Mexico

    M. Flota-Bañuelos, R. Peón-Escalante, L. J. Ricalde, B. J. Cruz, R. Quintal-Palomo & J. Medina

Authors
  1. M. Flota-Bañuelos
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  2. R. Peón-Escalante
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  3. L. J. Ricalde
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  4. B. J. Cruz
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  5. R. Quintal-Palomo
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  6. J. Medina
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Correspondence to M. Flota-Bañuelos.

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Technical Editor: Monica Carvalho.

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Flota-Bañuelos, M., Peón-Escalante, R., Ricalde, L.J. et al. Vision-based control for trajectory tracking of four-bar linkage. J Braz. Soc. Mech. Sci. Eng. 43, 324 (2021). https://doi.org/10.1007/s40430-021-03043-z

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  • DOI: https://doi.org/10.1007/s40430-021-03043-z

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