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Ball and Plate PID control with 6 DOF Stewart platform
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- Опубликовано: 16 дек 2012
- This is a semester project in mechatronic control systems at SJSU.
The 6 DOF platform is a proof-of-concept prototype that we created for our senior project (motion simulator). Here, we are using 2 axes of the platform as the output from a PID controller that uses a resistive touch panel mounted on the platform as input. All processing is being done on an Arduino Uno that is controlling 6 R/C servo motors.
For more information about this project or our senior project, please visit our webpage at www.fullmotiond...
Here's a video of some testing for the motion simulator:
• Full Motion Dynamics 6...
I like to think the machine has a mechanical heart attack of not knowing what to do when you take the ball off, poor lil thing.
***** Um...what
Justinian Snow LOL!!!
***** A bit too obvious bro. Try a bit harder otherwise we will have to fail you this semester for the trolling class
***** RELAX MY FRIEND
Draegast?!!! Oh boi! Dude I love your videos! I watch them every time a new one comes out!!
Oh my goodness! As an Engineering student I'm slackjawed at your work because I know all the time and effort you all had to put into it. Congratulations on that. Great job.
the amount of math that probably went into the control algorithms is probably enormous. I'd be terrified to even attempt this
function86 it's more trial and error and programming, I don't think there was that much "math"
I'd beg to differ. trial and error would take forever for this and the precision it has in the video is not something i'd expect to see from trial and error. Depending how many variables were factored in (thing like intertia of the ball, inertia of the platform, damping constant of actuators, etc.) the math can get quite heavy when designing PID controllers. Programming is just controlling the servos and running the control algorithms, the algorithms are doing the heavy lifting. You have to remember that there are also 6 degrees of freedom which means there are 18 parameters to tune and if you have ever tuned PIDs before you'll know that its not such an easy task
function86 well, if you already modeled the dynamics and have a MIMO system you'd most likely not use a PID I imagine, but go the extra mile and dive into state space controls
ahahahahahahha
Make one hell of an office desk toy.
Productivity might go low though..
Not after an hour.
Ok challenge accepted, I made it : ruclips.net/video/57DbEEBF7sE/видео.html
This is one of the coolest projects I've seen in a long time!
This is amazing. I was smiling the whole time!.
This is awesome, I always wondered how PID controllers could be implemented into the real world since taking Control Theory. Thanks for the post.
There are 100's of applications one can list as you gain experience.
Anywhere you have an adjustable system and a sensor, you can implement a pid controller. Whether it be an altimeter in a drone to maintain altitude, a thermistor in an ac system to adjust to the temperature of your thermostat, or cruise control in your car to maintain speed pid controllers are everywhere.
Every now and then I get amazed. This is one of them!
Balls have gotten really advanced with recent manufacturing. I remember the days they used to roll off tables.
Anyone else think the way it trembles is hella creepy?
***** g8 b8 m8
I report them each and every fucking time. I hope Google takes it seriously and removes them. Spoiling other people's fun is how I get off.
***** actually thought the wild shaking when they took the ball off was kinda cute ^u^ it gave it some personality..
Yes, totally! It seems like it's pissed off at you for moving the ball...
Reminds me of pee-shivers.
This will probably be the coolest PID demo I will ever see.
This is awesome. I went to your site and i got to say that simulator is pretty bad ass. If that ever went into a commercial market i bet you could make good bank.
so cool... shocking how many people are saying its "the most useless machine ever"...
reverse it... use it as a cup/phone holder in cars
strap it on a torso... use it for a steady cam operator
slow it down a bit and put it in a sound proof box... sell it as office decore like those pendulum balls, but one that you can actually interact with and program to move in set patterns...
this thing is amazing as it is. people need to stop hating on other people's ideas... contribute or gtfo
I'm just satisfied with the ball ending up perfectly in the middle just when the video ends. I can rest peacefully now :)
I love that you're using a nunchuck.
what happens if you put 2 balls?
Then that would be public indecency... seriously tho why would you wanna rub your nut bag all over it.
I think It would explode
your profile pictures matches this comment so well
Nord Deus LOL!!!
If balls are equal if will move to get center symmetry between balls. After they will react the same. If balls are different weight distance to center will be inversely proportional to it's weight. But line connecting two balls will always cross center of the plate in initial position.
i am also a student as SJSU, i am very impressed!
Great show! Long life for Arduino.Congratulations by your project.
When you take the ball away, the shaking makes it look like it's mad. "Fucker took my ball! Give it back!"
This is great! Can you do some videos showing what high P gain vs high I gain looks like, and same with low P and I and the the effect D gain has on them? That would be soooo awesome, im always trying to explain PIDs to people to tune a rc helicopter or multirotor but if you made those videos it would be so much easier.
Well the 6DOF platform was for a separate project, and it took a few months to get all the kinks worked out with the kinematics for controlling the platform. The ball balancing portion took a few weeks to figure out and another week to tune.
First of all, absolutely amazing and the best part was you were using a nunchuck as your joystick! Second, as I understand it, the top of your platform is like a touch screen? I have a GLCD that uses a touch screen that looks like what you have on the top of your platform and I was wondering if someone or you could tell me exactly what it is.
I was wondering if they were using optical vision like the other version I saw, of if maybe they were magical enough to just determine all this by the force the servos measured (Can they even do that?). But your hypothesis seems a lot more likely.
It also says so in the description..
I did that with a camera on top and labview. LQR control gives better result than PID
I'm guessing that the convulsions it goes into when you remove the ball are intentional - if there's a dead spot on the touch panel, this will give the ball a kick to clean it. One of the difficult things about building robust servo systems is having them still work when the feedback sensor is noisy or the loop opens for any reason.
My heart is racing from the shaking of the plate
This is a really awesome piece of innovation. I 'd like to know what comes next.
Replace those servos with KST DS115MG servos, and they'll be quieter, smoother, and way more accurate
I have no idea what I just watched but that was super hella cool, if only I could design things that sweet.
It took balls to take this on as a semester project
Next semester project - robotic arm with gentle touch.
Put a top on it , one of those childrens battling ones with erratic spins...please! Cool vid@ FMD
very cool - from a fellow SJSU alumni
Beautiful little mechanism
Hello:
I would like to do this project. I clicked the link to your webpage, but it is no longer there. I was wondering if you had the list of materials, and some suggestions on how I can proceed with making this. I think it would be great for me to do at school for my final project. The deadline is in 3 just over 3 months. I would like to get started on it sooner, rather than later. Thank you.
Where can i find the servo arm extensions? I have been looking for days and can still not find them. What are these called?
This is fucking amazing.. I took nonlinear control systems and I know how hard is this shit... really amazing.
I am proud to be a Control Engineering student.
thought it was the jumping one but this is amazing too, beautiful
Nice... Same thing that's in a quadcopter. What the gyro does in self leveling modes. Pretty cool
Looks like a wii nunchuck. Really amazing control
The little robot guy is like "OH NO YOU DON'T"
Useful as a table aboard ships and Planes !
The old site is not working, I wanted to build a project like this for myself, where can I find the project?
This is wonderful! Please fix the jittery movement when you remove the ball (it should be pretty easy) and it will be fantastic!
It's cool. I'm finding a topic of my making project. I'll copy this project in 2015. If I get it done, I probably understand how to control drone's position in the air.
"...that uses a resistive touch panel mounted on the platform as input." One of the problems keeping the drone in one spot so accurately is probably to have very accurate position measurement, GPS is pretty noisy. Maybe some form of differential GPS is better.
sigh.. I didn't read description yet. need to rely on gyrometer but latency might be significant.
Using a touch panel is genious.
This is, at most, 4 DOF. You have 2 DOF input and 2 DOF platform rotation (control).
Touch screen through decoder onto servos. Nice one.
These would make great DIY build kits...
This is absurdly good.
it has a seizure when you pick the ball up
It uses a resistive touchscreen panel as input for the position of the ball. I assume when the ball is lifted the algorithm goes apeshit until it realizes it's just missing the ball, at which point it self-centers and waits for input again. Far off +Full Motion Dynamics ?
It worries where the ball went hehehe
the BAaAAaaaAALL
this is mind bending
the future is upon us!
It may have 6 degrees of freedom but at max in the video it uses 3, and for all the useful parts with the ball it uses 2. So it only needs 2 servos (roll in X, roll in Y) and a far simpler system.
Amazing Control Job you guys... with proyects like this I'm falling in love with Control :V
You could see the tiny shakes it does when it’s trying to stop the ball in place.
It kinda looks like it’s fidgety when you take the ball away. Like, “noooo, give it back! Give it back!” 😆
That is really a great project...such a clever implementation!! 😍
It would be great to see this on a boat or plane, keeping the ball still in the middle. Very cool
I use this level of control and precision to control my girlfriend. Brb, she's trying to escape the basement.
I love the digital world.
Amazing work! Congratulations!
This is really cool. It kinda reminds me of a racing driver correcting oversteer lol
Mr Wang... Stop wasting ur time and get back to work
working on the same using PSO technique for PID tuning,, its great
Technology is bloody awesome!
I like how it appears to have a minor freakout when he removes the ball.
What electrocal components you use in there? I am making the almost the same, but the motor keep revving up. It won't stop at my desire angle...
Quite Interesting! A touch screen, very cool
YOUR INVENTION IS STILL VVVVVV GOD
holy shit, i can only imagine the work that was put into it >.>
Brilliant idea to use RT panel :)
What happen when you put there 2 balls?
I believe he's using an old style resistive touch screen. You can buy them from Digikey and get controllers for them so they input like a mouse.
I loved the Home button
This is really amazing. How does the system kno where the ball is?
Either by camera, hence the clear plate. Or by directing the weight on each strut to determine how to stabilize it
offers a visual feast perfect project
i can watch this for hours
what is the type of microcontroller used here ( Arduino, raspberry or ...) and which one is suggested to use ?
maybe with weight of the ball there are sensors on each stick and with a simple math it understands the position and the way program works is if x axes of ball is bigger than what we want so move these servos these ways to reach the position that we want or if its less than what we want so the opposite way or if it was equal to the position do nothing and the same thing for y axes am i right?
FMD sir what sensor did u guys use to detect the ball weight or location? is it that pad? can u please tell us what kind of pad is that?
Project website no longer up. 😢
Why the instability when the ball is removed? It seems like it would be simple to prevent, just by nulling the servo when no ball is detected on the plate. On the other hand, it is a pretty good demonstrator of the bandwidth. I did some servos for a some FLIR/mm wave radar gimbals on a fused sensor system, and the boss asked for a dynamic demo to run for a dog and pony. We set up what we called the washing machine scan, where it just randomly scanned to just shy of the limit sensors. He didn't like it, and asked for a bar scan instead...how boring and predictable can you get??? :-P What we really should have done was some cueing from the radar gimbal to the FLIR gimbal, as one scenario that would have occurred in operation, but very few attending the "show" would have understood it anyway. Such is life.
Hello!
You made me feel happy, excellent work. Cheers....
hi my friend . i built a 6 dof parallel robot used high speed servo motor and stm32 uc . i detected roll and pitch angles and calibrated servo motors . now i want have relationships for balance robot . can you help me please ? thanks
Great project! Do you have a part list for just this device? Your website has the part list for the 1:1 scale platform, but I'd like to tinker with this instead.
The shaking it does when it has no ball, it's like a crack addict... god man I needs a fix. I needs the ball man!
very cool idea and nicely realised! Congrats!
Very well designed. Impressive.
hi such a very good project have a doubt are using a PID system and if so use of sensor element to the table understand that the bearing moves in place and do not let fall off the table
which sensors you use to get the position of the ball?
+Mutlu Tokat They will not ..tell you...its a secret as they will patent it...and sell the concept to a big company willing to buy it and then the company will bleed the consumers dry...
+Mutlu Tokat read the description before asking stupid questions you moron.
which microcontroller handled to do this amazing job?
Our team consists of me and one other member, and as I said below, the PID control aspect of the project only took a few weeks, while the 6 DOF platform took a few months. The PID control portion could be done much more easily with a simple 2 DOF platform.
can u share some information of the project like its modelling or code ?
Mathematics is so beautiful
***** your mother was a hamster and your father smelt of elderberries.
To control the servos by finding the PID parameters, did you have to find the servo transfer function?
Athus Vieira PID tuning can be done without finding the transfer function of a system, or by assuming a linear gain from PWM to angle and doing simple system identification.
How did you find the K parameters of PID? My project can keep the ball near the setpoint but the ball never stabilizes, the ball moves near the setpoint but don't stop. I'm trying find K parameters manually, but no sucess.
Isn't the resistive touch panel too much of a hasle when there were easier options?
just what I needed for my invention !
That's really cool. Great job. I'm curious, did you use Matlab's built in Simulink stuart platform program or did you create your own?
I'm impressed by the quality of this project.
This video also is the first time that I've seen what appear to be a lot of posts made to reddit. Did Google just do a cross-platform with them?
Somebody linked it in /r/videos (one of the biggest subs) and it reached the frontpage.
chrome.google.com/webstore/detail/hide-fedora/acjgabfifnnmmlckmnijdbijgbfpedde?hl=en-US is your friend. Basically anything that gets big on reddit, attracts a group of satiracle "comedians" who post obnoxious comments to make fun of whatever they feel like at the time (whether it be feminism, racial rights, or reddit itself)
This should be the best ride at Jurassic Park World.
this is absolutely brilliant
Controlling engineering fckn rules!
is it possible to get the code for this ball on plate balancing and schematic?
It sounds like it's angry when you remove the ball
Is there a very weak magnet in the center?