A Robotic Ball Balancing Beam
نویسنده
چکیده
I designed a beam to balance and move a chrome steel 1.25” diameter ball, to a desired position/waveform through time, stably and with high performance behavior. I tested the ball to make sure it could retain its central position, as well as following different frequency sine and square waves of desired position, with or without human disturbances, and it succeeds in these tasks, up to a sine wave frequency of roughly 0.5 Hertz [at an amplitude of roughly 80% of the overall system travel], at which point the linearization of the system model breaks down and the mechanical system becomes unstable.
منابع مشابه
Fuzzy logic controller and real-time implementation of a ball balancing beam
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