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A New Rotary Position-Control System With Color Sensing

[+] Author Affiliations
Young-shin Kwon, Won-jong Kim

Texas A&M University, College Station, TX

Paper No. DSCC2013-3822, pp. V003T40A002; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME


This paper presents a new rotary position-control system using a color sensor. The angle sensing mechanism is based on the working principle of a red-green-blue (RGB) sensor that measures the radiant-intensity variation of the light reflected on the color surface. The optical-power propagation mechanism from a light-emitting diode (LED) source to the RGB sensor’s voltage is investigated using the light reflected on the designated-RGB codes of the cylindrical color-track surface. The nonlinearity due to a color printer and a paper roughness is compensated for through iterative comparisons with the reference angle achieved from a precision potentiometer. The performance of this new absolute angle sensor is validated using a rotary mechanical system with a cylindrical inertia controlled by a lead compensator. The stability of the positioning system is also investigated with the frequency response. Eventually, the feasibility of this new rotary angle sensor with the cost-effective and non-contact sensing mechanism is demonstrated.

Copyright © 2013 by ASME



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