Challenge:
Design a control system to position a ball in a plane (2-DOF) as rapidly
as possible with minimum position error. The ball can be positioned
at a fixed point of reference or made to track a determined path.
Description:
This system consists of a plate supported by main gimbal joint allowing
the plate to move in 2 degrees of freedom, two SRV02 units the load
gears of which are connected to the plate through gimbals in order
to control angular position of the plate, and digital camera mounted
overhead, capturing 2D images of the plate and allowing to track coordinates
of the ball in real time.
The 2DBB system is fully open-architecture and allows design of any
controller desired in addition to the PID controller provided.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
