Real-Time Motion Tracking Detection System for a Spherical Pendulum Using a USB Camera

USB 카메라를 이용한 실시간 구면진자 운동추적 감지시스템

  • Received : 2016.02.17
  • Accepted : 2016.08.05
  • Published : 2016.09.01


Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.


Spherical Pendulum;Motion Tracking;Detection System;Camera Vision;Input Shaping


Supported by : 한국연구재단


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