An Evaluation Framework for Vision-in-the-Loop Motion Control Systems

Chaitanya Jugade, Daniel Hartgers, Phan Duc Anh, Sajid Mohamed, Mojtaba Haghi, Dip Goswami, Andrew Nelson, Gijs van der Veen, Kees Goossens

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)
151 Downloads (Pure)


Industrial applications and processes such as quality inspections, pick and place operations, and semiconductor manufacturing require accurate positioning control for achieving the high throughput of the assembly machines. Vision-based sensing is considered to be a potential means to achieve robust positioning control which is referred to as a vision-in-the-loop (VIL) system. In such motion systems, the point-of-control and the point-of-interest are often different due to several physical factors. In this case, validation of a system is done only when a machine prototype is available. A physical prototype is often expensive and infeasible in real-life. This paper proposes an evaluation framework for VIL systems targeting a predictable multi-core embedded platform. The presented framework offers model-in-the-loop (MIL), software-in-the-loop (SIL), and processor-in-the-loop (PIL) simulation features for evaluating the closed-loop performance of industrial motion control systems. As a deployment platform, we consider a predictable embedded platform CompSOC. The predictable nature of the CompSOC platform guarantees periodic and deterministic execution of the control applications and allows verification of the timing properties and performance of the VIL system. Additionally, the framework offers automatic code generation feature targeting the CompSOC platform. Closed-loop simulation setup models the system dynamics and camera position in the CoppeliaSim physics simulation engine and simulates the system software in C and MATLAB. CoppeliaSim runs as a server and MATLAB as a client in synchronous mode. We show the effectiveness of our framework using a vision-based motion control example.
Original languageEnglish
Title of host publicationIEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)
PublisherInstitute of Electrical and Electronics Engineers
Number of pages4
ISBN (Electronic)978-1-6654-9996-5
Publication statusPublished - 25 Oct 2022
Event27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022 - Stuttgart, Germany
Duration: 6 Sept 20229 Sept 2022
Conference number: 27


Conference27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022
Abbreviated titleEFTA 2022


  • Vision-in-the-loop
  • embedded control
  • industrial motion control system
  • processor-in-the-loop simulation


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