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

Authors
  • Flota-Bañuelos, M.1
  • Peón-Escalante, R.1
  • Ricalde, L. J.1
  • Cruz, B. J.1
  • Quintal-Palomo, R.1
  • Medina, J.1
  • 1 Facultad de Ingeniería de la Universidad Autónoma de Yucatán, Mérida, Yucatán, Mexico , Mérida (Mexico)
Type
Published Article
Journal
Journal of the Brazilian Society of Mechanical Sciences and Engineering
Publisher
Springer Berlin Heidelberg
Publication Date
May 31, 2021
Volume
43
Issue
6
Identifiers
DOI: 10.1007/s40430-021-03043-z
Source
Springer Nature
Keywords
License
Yellow

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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