{"id":"https://openalex.org/W4390099816","doi":"https://doi.org/10.1109/robio58561.2023.10354893","title":"Visual Servo Control for Ball-on-Plate Balancing: Effect of PID Controller Gain on Tracking Performance","display_name":"Visual Servo Control for Ball-on-Plate Balancing: Effect of PID Controller Gain on Tracking Performance","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099816","doi":"https://doi.org/10.1109/robio58561.2023.10354893"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093559078","display_name":"Sarin Kitchatr","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Sarin Kitchatr","raw_affiliation_strings":["Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092618450","display_name":"Aphiphu Sirimangkalalo","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Aphiphu Sirimangkalalo","raw_affiliation_strings":["Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038463793","display_name":"Ronnapee Chaichaowarat","orcid":"https://orcid.org/0000-0001-5002-7568"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Ronnapee Chaichaowarat","raw_affiliation_strings":["Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chulalongkorn University,International School of Engineering,Bangkok,Thailand,10330","institution_ids":["https://openalex.org/I158708052"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158708052"],"apc_list":null,"apc_paid":null,"fwci":8.1828,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.98778479,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.7423859238624573},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6387877464294434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5503258109092712},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5488128066062927},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4937222898006439},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48976588249206543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4663046598434448},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.4510875344276428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45009028911590576},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4405503571033478},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4123806357383728},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.4104241728782654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3260316848754883},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21622398495674133},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.12478232383728027},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10814625024795532}],"concepts":[{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7423859238624573},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6387877464294434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5503258109092712},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5488128066062927},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4937222898006439},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48976588249206543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4663046598434448},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4510875344276428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45009028911590576},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4405503571033478},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4123806357383728},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.4104241728782654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3260316848754883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21622398495674133},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.12478232383728027},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10814625024795532},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W180351714","https://openalex.org/W1586284323","https://openalex.org/W1968277177","https://openalex.org/W2007612122","https://openalex.org/W2059349828","https://openalex.org/W2101116544","https://openalex.org/W2128072048","https://openalex.org/W2133626816","https://openalex.org/W2195954924","https://openalex.org/W2242464395","https://openalex.org/W2289590979","https://openalex.org/W2294294776","https://openalex.org/W2545601722","https://openalex.org/W2556351451","https://openalex.org/W2725620197","https://openalex.org/W2808723410","https://openalex.org/W2979732222","https://openalex.org/W2979976882","https://openalex.org/W3094117335","https://openalex.org/W3183157423","https://openalex.org/W3207594049","https://openalex.org/W3214924185","https://openalex.org/W4293094972","https://openalex.org/W4311845473","https://openalex.org/W4317508601","https://openalex.org/W4379385260","https://openalex.org/W4383722103","https://openalex.org/W4385488338","https://openalex.org/W4388893794","https://openalex.org/W4388894557","https://openalex.org/W4388915704","https://openalex.org/W4389538438","https://openalex.org/W6688062685","https://openalex.org/W6769108445"],"related_works":["https://openalex.org/W2133614587","https://openalex.org/W2088603790","https://openalex.org/W2020441249","https://openalex.org/W2051011957","https://openalex.org/W597209009","https://openalex.org/W2385654506","https://openalex.org/W2546583032","https://openalex.org/W891366759","https://openalex.org/W2903247355","https://openalex.org/W1976622387"],"abstract_inverted_index":{"Ball-on-plate":[0],"balancing":[1,205],"is":[2,21,30,43,65,90,172,185,198,210],"a":[3,76],"popular":[4],"challenge":[5],"for":[6,24,202],"the":[7,15,25,34,46,49,53,56,59,68,73,84,95,98,103,106,109,114,120,123,126,132,137,140,142,146,149,153,161,166,170,177,182,190,195,213,217,222],"implementation":[8],"of":[9,48,55,75,83,97,105,111,122,131,139,160,169,176,189,216],"control":[10],"systems.":[11],"In":[12],"this":[13,203],"paper,":[14],"Universal":[16],"Robots":[17],"UR3":[18],"industrial":[19],"arm":[20,144],"set":[22],"up":[23],"challenge.":[26],"An":[27],"acrylic":[28],"plate":[29,50,57],"firmly":[31],"grasped":[32],"by":[33,51],"robot\u2019s":[35],"gripper.":[36],"The":[37,86,158,174,187,207],"pure":[38],"rotation":[39],"about":[40],"three":[41],"axes":[42],"achieved":[44],"at":[45],"center":[47,121,138,150],"considering":[52],"offset":[54],"from":[58,119,136],"tool":[60],"frame.":[61],"A":[62],"web":[63],"camera":[64,218],"mounted":[66],"on":[67,81,164,180,193],"last":[69],"link":[70],"to":[71,102,148,152,221],"observe":[72],"position":[74,134],"ping":[77],"pong":[78],"ball":[79,99,115,133,147],"moving":[80],"top":[82],"plate.":[85,124],"color-based":[87],"object":[88],"detection":[89],"used":[91],"with":[92,219],"OpenCV":[93],"and":[94,128],"coordinates":[96],"are":[100],"mapped":[101],"pixel":[104],"camera.":[107],"At":[108],"beginning":[110],"each":[112],"test,":[113],"was":[116],"placed":[117],"away":[118,135],"Considering":[125],"x-axis":[127],"y-axis":[129],"error":[130,197],"plate,":[141],"robot":[143,223],"stabilizes":[145],"according":[151],"PID":[154],"controller":[155,209],"gain":[156,163,179,192],"configurations.":[157],"effect":[159],"proportional":[162],"reducing":[165,181,194],"rise":[167],"time":[168],"response":[171,183],"observed.":[173,186],"advantage":[175,188],"derivative":[178],"overshoot":[184],"integral":[191],"steady-state":[196],"not":[199],"clearly":[200],"observed":[201],"ball-on-plate":[204],"problem.":[206],"implemented":[208],"robust":[211],"against":[212],"small":[214],"vibration":[215],"respect":[220],"arm.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}