The picked and placed control of the objects for a pneumatic X-Y servo platform by integrating image processing techniques and a fuzzy sliding mode controller design

In this paper, integrated a image processing techniques and a fuzzy sliding mode control design for a pneumatic X-Y servo platform system was proposed to realize the picked and placed control of the objects. The key feature of this control scheme is by means of immediately modulated the boundary layer sliding surface and fuzzy function design to improve the steady state error of time response effect. Then, use the image pattern recognition technique to determine the loading and unloading object positions, and drive the Z axis device to active the picking and placing control of the objects to obtain automatic loading-unloading device performance. The validity of the proposed control scheme is verified through practical testing on an experimental pneumatic cylinder X-Y axis servo system device and CCD video camera. In the cases of the step position command input, the test results show that the proposed control scheme and object image pattern recognition technique are capable of reaching the picking and placing precision control of the object.