Download attached - Robotics and Mechatronics

3.6. CONTROL SYSTEM
block with an image. In the image processing block first a Region of Interest (ROI) is
determined. This ROI is used to calculate the position of the robot and the contrast of
the image. The two position signals are used to calculate the position of the robot in
3D space. This position and the position setpoint is used in the magnetic controller to
calculate an error signal, which is used to calculate the desired magnetic field (force
and/or torque). The desired magnetic field is mapped to currents for the eight coils
which are driven by the current controllers. The contrast from both images is used to
maximize the contrast of the image. Maximizing the contrast is done in the autofocus
controller which sets the motor controllers with an desired position or velocity.
Camera (H)
Camera (V)
Image
Processing
Image
Processing
Contrast (H)
2D Position (V)
2D Position (H)
Contrast (V)
3D Position
Calculation
Autofocus
Control
3D Position
Motor Controllers
Position Setpoint
Magnetic
Control
Desired Magnetic Field
Mapping
Current Controllers
Figure 3.14: Software flowchart of the main processes. The two cameras deliver an
image to the image processing blocks. The image processing blocks calculate the contrast of the images and the position of the robots in the images. The contrast is used
for autofocusing. The position signals are combined in a 3-dimensional position. This
3D position is used in the magnetic controller to calculated the desired magnetic field.
The magnetic field is mapped to currents for the eight electromagnets.
This software structure has to be programmed in some kind of platform. We have
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