1. Главная
  2. Ресурсы
  3. Библиотечный поиск
An EvaluationFramework forVision-in-the-LoopMotion ControlSystems Chaitanya JugadeDaniel HartgersPhan Duc Anh2022 год

An Evaluation Framework for Vision-in-the-Loop Motion Control Systems
статья (материалы конференций)

Полный текстСтраница публикацииПубликация в OpenAlex
Аннотация: Industrial applications and processes such as quality inspections, pick and place operations, and semiconductor manufacturing require accurate positioning control for achieving the high throughput of the assembly machines. Vision-based sensing is considered to be a potential means to achieve robust positioning control which is referred to as a vision-in-the-loop (VIL) system. In such motion systems, the point-of-control and the point-of-interest are often different due to several physical factors. In this case, validation of a system is done only when a machine prototype is available. A physical prototype is often expensive and infeasible in real-life. This paper proposes an evaluation framework for VIL systems targeting a predictable multi-core embedded platform. The presented framework offers model-in-the-loop (MIL), software-in-the-loop (SIL), and processor-in-the-loop (PIL) simulation features for evaluating the closed-loop performance of industrial motion control systems. As a deployment platform, we consider a predictable embedded platform CompSOC. The predictable nature of the CompSOC platform guarantees periodic and deterministic execution of the control applications and allows verification of the timing properties and performance of the VIL system. Additionally, the framework offers automatic code generation feature targeting the CompSOC platform. Closed-loop simulation setup models the system dynamics and camera position in the CoppeliaSim physics simulation engine and simulates the system software in C and MATLAB. CoppeliaSim runs as a server and MATLAB as a client in synchronous mode. We show the effectiveness of our framework using a vision-based motion control example.
Год издания: 2022
Авторы: Chaitanya Jugade, Daniel Hartgers, Phan Duc Anh, Sajid Mohamed, Mojtaba Haghi, Dip Goswami, Andrew Nelson, Gijs van der Veen, Kees Goossens
Источник: 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)
Ключевые слова: Advanced Vision and Imaging, Teleoperation and Haptic Systems, Real-Time Systems Scheduling
Другие ссылки: 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA) (HTML)
Zenodo (CERN European Organization for Nuclear Research) (PDF)
Zenodo (CERN European Organization for Nuclear Research) (HTML)
pure.tue.nl (HTML)
Data Archiving and Networked Services (DANS) (PDF)
Data Archiving and Networked Services (DANS) (HTML)