Ball-and-plate control system
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- Опубликовано: 27 сен 2024
- Ball-and-plate 제어 system에 대한 실험 영상입니다. System은 인하대학교의 Embedded Control Lab에서 자체적으로 개발되었습니다. 제어 알고리즘은 Embedded control lab에서 개발한 LW-RCP 장치와 Simulink를 이용하여 설계하였습니다. Plate의 구동은 3자유도 Stewart platform을 이용하여 이루어지므로 ball-and-plate의 제어 이외에도 병렬로봇의 역기구학(inverse kinematics) 등도 공부해 볼 수 있습니다.
This is the demonstration video of the ball-and-plate control system developed by Embedded Control Lab of Inha University. Control is performed through Simulink and LW-RCP (Light-weight Rapid Control Prototyping) unit, developed by Embedded Control Lab. Actuation of the plate is performed by a 3-DOF Stewart platform. One can learn about the ball-and-plate control as well as inverse kinematics of a parallel manipulator.
I would like to see this, but replace the plate with the board from classic "Labyrinth"
Please share the project details. If you have published any paper about this model or any source from where you get an idea about it.
We never published a paper using this 3-DOF stewart platform yet. However, we published two journal papers using 6-DOF Stewart platform previously. If you want to know the dynamic model of a ball-and-plate system, the following papers will be of some help.
[1] Embedded model predictive control for enhancing tracking performance of a ball-and-plate system, IEEE Access, vol 7, no. 1, pp. 39652-39659.
[2] Implementation of a ball and plate control system using sliding mode control, IEEE Access, vol. 6, no. 1, pp. 32401-32408.
What is used to sense the ball's position feedback, is it a touchscreen?
Correct. We used a touch screen.
@@urimiroo did you consider other methods of getting feedback?
What servos did you use? These are so quiet
We used DC motors. They are controlled using PID controllers.
@@urimiroo thx, Do you know the brand?
@@beleku Pololu DC motor. 12V. 30:1 gear ratio.
@@urimiroo Thank you :)