Agile Ball and Plate System

The Ball and plate system is a generalization of the famous Ball and Beam benchmark to two degrees of freedom. The ball and plate system shown in this video is built by Mohsen Saadat and Miad Moarref, M.Sc. students at Mechanical Engineering Department, Sharif University of Technology, Tehran, IRAN.
The ball's position feedback is acquired via a webcam. Note that the webcam (not visible in the video) is located about 80 cm above the plates surface.
A fuzzy gain scheduling PID controller is used for the experiments in this video. The gains are tuned to work well even under large initial errors, i.e. when the ball is thrown on the plate and both position and velocity errors are very large. In the tracking experiment the radius of the desired circle is 10 cm, the tracking velocity is about 9 cm/s, and the average tracking error is less than 15 mm.

See http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.... for more details.

Category:

Science & Technology

Tags:

• Ball
• and
• Plate
• System
• Beam
• Control
• Position
• Regulator
• Servo
• Trajectory
• Tracking
• Vision
• Image
• Processing
• Dynamic
• PID
• Gain
• Scheduling
• Fuzzy
• Mechatronic
• Miad
• Moarref
• Mohsen
• Saadat
• Sharif
• University
• of
• Technology
• Department
• Mechanical
• Engineering
• IRAN

[jep2k8]

Hello! Sorry by my english of begginer, but, could you tell me about the plate used in this assembly? Is it a touch screen? Where can I find?

Thanks!

[ballandplate]

@jep2k8

Hi! The plate is a black plexiglass sheet glued to an aluminum plate. It's not a touchscreen. The ball's position feedback comes from a webcam, which is about 80 cm above the plate. Unfortunately, the webcam is not visible in this video.

[nikyilu]

cool guys

[maurireynoso]

bueeniiiiiiiiisimo

[sovietspyguy]

Very cool, I am trying to do basically the same project for my motion control class. :)

[ssss7777hhhhh]

Good job guys!!