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ISSN: 2455-3689
www.ijrtem.com Volume 1 Issue 4 ǁ June. 2016 ǁ PP 16-23
Contours Planning and Visual Servo Control of XXY Positioning System Using
NURBS Interpolation Approach
Syuan-Yi Chen1, Yu-Hsuan Lai2, Han-Ting Lu3
1,2,3
Department of Electrical Engineering, National Taiwan Normal University, Taiwan, R.O.C
ABSTRACT : This study aims to develop contours planning and visual servo control technologies for a XXY positioning stage for
tracking the two-dimensional contours precisely. First, the two-dimensional contours are planned by using the non-uniform rational
basis spline (NURBS) interpolation approach. Subsequently, the visual servo control mechanism, which involves five steps image
processing procedures, is further designed to perform the closed-loop motion control for high-precision positioning performance.
During the control process, the positioning error is monitored online. If the positioning error is larger than the pre-defined threshold,
a compensation control will be executed immediately to compensate the inaccurate motions. In addition, a friendly human-machine
interface (HMI), which can show the movement of the stage in real-time, is developed. Finally, the experimental results demonstrated
the favorable positioning performance of the XXY positioning system for tracking the two-dimensional contours.
Keywords: Image processing, NURBS, positioning control, XXY positioning stage.
1. Introduction
High-precision XXY positioning stage is competitive on the market due to its smaller dimensions, larger weight-carrying
capacity, and faster positioning speed comparing with the traditional XYθ stage [1]. Therefore, it has attracted increasing attentions
significantly for wide engineering, industrial, scientific and biomedical applications [2]. Because the positioning performance plays an
important role on the process of manufacturing, many advanced control technologies have been developed for the positioning and
auto-alignment of the XXY positioning stage [2]-[5]. On the other hand, because vision system is able to recognize the images just like
human’s eyes, it has been adopted popularly to improve the accuracy of the system and avoid the defect from manual operations
effectively [2], [5]. In this study, the trajectory planning and visual servo control technologies for the XXY positioning stage are
developed using NURBS interpolation approach [6]. The experimental results due to various two-dimensional contours show the stable
and high-precision positioning performance.
Ethernet
CMOS
Camera
Lu375C Step Motor Driver
EXD2020MB
Drive Signals
Y-axis
X2-axis
HMI and NURBS
Interpolation
X1-axis Software
PCI Bus
Control
AF-XXY-NR1-175-R28 Signals
XXY Positioning Stage
68-pin Cable
ACL-10569-2
Terminal Board 4-axis Motion Control
DIN-68S-01 Board PCI-8144
Work stage
Free-axis
X-direction
Y-direction
Y-axis
X2-axis
Y-axis motor
Base
X1-axis
X1-axis motor X2-axis motor
i ,k ( p) iVi n
C ( p) i 0
n
Ri ,k ( p)Vi (1)
i,k ( p)Wi
i 0
i 0
and
i ,k ( p) i
Ri ,k ( p) n
(2)
i ,k ( p) i
i 0
where Vi is the control points; ψi is the corresponding weights of Vi ; n+1 is the number of control points; k is the order of the NURBS
curve; Zi,k(p) is the kth order B-spline basis function; Ri,k(p) is the rational basis function. The recursive formulae for computing
Zi,k(p) can be found as
1 for pi p pi 1
i ,1 ( p) (3)
0 otherwise
p pi p p
i ,k ( p ) i ,k 1 ( p) i k i 1,k 1 ( p) (4)
pi k 1 pi pi k pi1
where P=[pi ,…, pi+k] represents the knot vector.
Theoretically, by manipulating the values of control points, weights, and knots, the NURBS can produce arbitrary reference
contour. With the NURBS, the users could set up the curved path instead of the straight line. Traditionally, the curved path is made up
of the short straight line. It is hard to generate the command about the curved path. In addition, there is the unavoidable error between
the real path and the path we set. Another problem of the traditional way is that the platform need to stop or accelerate in the process of
move. Therefore, the platform didn’t move smoothly. In this study, we can improve the disadvantage of traditional way. The use of the
NURBS could let the path of the platform more flexible and changeable.
By using the NURBS interpolation approach, the new curve is totally different from the original curve as shown in Fig. 3(a)
when the control point V2 is moved to the new V2. In addition, the curve becomes sharper if the weight of the corresponding control
point is increased as shown in Fig. 3(b). Obviously, the shape of the contours can be determined via the designs of the control points and
their weights.
(a) Change the location of the control point (b) Regulate the weight of control point
Fig. 3 Illustrations of NURBS interpolation approach.
ea ex ey
2 2
(5)
(5) Positioning error compensation: If the average error ea is higher than the predefined threshold, the control core will regulate the
speed and position control signals immediately for positioning error reduction.
By the above steps, the high-precision positioning performance can be achieved.
6. Experimental Results
6.1 Software development
In this study, Visual Basic.NET with the Emgu CV library was utilized to develop the software of the XXY positioning system. The
control object of this study is to realize the high-precision contour tracking by using the NURBS interpolation approach. There’s two
ways for changing the contour demand which are change the location of control point and regulate the weight of each control point as
shown in Fig.3. The users could set up the contour via the HMI directly. In addition, the users could monitor the motion of the stage
online.
(6)
(1) (2)
V ψ
V ψ
V ψ
V ψ
V ψ
V ψ
V ψ
(10)
(5)
The order of the NURBS curve, the knot vector, control points and weights of the heart contour are given as follows:
k 6 (10)
P [ p0 , p1 , p2 , p3 , p4 , p5 , p6 , p7 , p8 , p9 ] [0, 0, 0, 0.25, 0.5, 0.5, 0.75, 1, 1, 1] (11)
V [V0 , V1 , V2 , V3 , V4 , V5 , V6 ] [(0,0), (3,2), (2,5), (0,3.6), (2,5), (3,2), (0,0)] (12)
ψ [ 0 , 1 , 2 , 3, 4 , 5 , 6 ] [1,1,1,1,1,1,1] (13)
The order of the NURBS curve, the knot vector, control points and weights of the circle contour are given as follows:
k 6 (14)
P [ p0 , p1 , p2 , p3 , p4 , p5 , p6 , p7 , p8 , p9 ] [0, 0, 0, 0.25, 0.5, 0.5, 0.75, 1, 1, 1] (15)
V [V0 , V1 , V2 , V3 , V4 , V5 , V6 ] [(0,0), (0,2), (4,2), (4,0), (4,2), (0,2), (0,0)] (16)
ψ [ 0 , 1 , 2 , 3, 4 , 5 , 6 ] [1, 0.5, 0.5,1, 0.5, 0.5,1] (17)
By using the parameters as shown in Eq. (6)-(9), Eq. (10)-(13), and Eq. (14)-(17), the designed bow, heart, and circle contours were
shown in Fig. 6, Fig. 7, and Fig. 8, respectively.
(a)
(b) (C)
Fig. 6 Designed bow contour. (a) X-axis command, (b) Y-axis command, (c) Two-dimentional bow
contour.
(a)
(b) (C)
Fig. 7 Designed heart contour. (a) X-axis command, (b) Y-axis command, (c) Two-dimentional heart
contour.
(a)
(b) (C)
Fig. 8 Designed circle contour. (a) X-axis command, (b) Y-axis command, (c) Two-dimentional circle
contour.
Camera
Terminal Board
(a) (b)
Fig. 10 Positioning performance due to bow contour. (a) Positioning response, (b) Positioning error.
(a) (b)
Fig. 11 Positioning performance due to heart contour. (a) Positioning response, (b) Positioning error.
(a) (b)
Fig. 12 Positioning performance due to circle contour. (a) Positioning response, (b) Positioning error.
7. Conclusions
In this study, the contours planning and visual servo control technologies for a XXY positioning stage are developed
successfully. According to the developed HMI, the users can control the stage for tracking the two-dimensional contours very easily and
arbitrarily. With the CMOS camera, the proposed compensation control mechanism performs precise positioning performances. The
experimental results due to various contours planning and tracking demonstrated the favorable performances for the XXY positioning
system.
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