Ball and Plate PID control with 6 DOF Stewart platform
ฝัง
- เผยแพร่เมื่อ 16 ธ.ค. 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.fullmotiondynamics.com
Here's a video of some testing for the motion simulator:
• Full Motion Dynamics 6... - วิทยาศาสตร์และเทคโนโลยี
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 : th-cam.com/video/57DbEEBF7sE/w-d-xo.html
This is one of the coolest projects I've seen in a long time!
This is amazing. I was smiling the whole time!.
Every now and then I get amazed. This is one of them!
This will probably be the coolest PID demo I will ever see.
Great show! Long life for Arduino.Congratulations by your project.
Beautiful little mechanism
Amazing work! Congratulations!
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.
This is a really awesome piece of innovation. I 'd like to know what comes next.
i am also a student as SJSU, i am very impressed!
Balls have gotten really advanced with recent manufacturing. I remember the days they used to roll off tables.
very cool idea and nicely realised! Congrats!
That is really a great project...such a clever implementation!! 😍
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.
offers a visual feast perfect project
Hello!
You made me feel happy, excellent work. Cheers....
Very well designed. Impressive.
wow, this is just perfect! Nice work!
Congratulations. Great work
Amazing Control Job you guys... with proyects like this I'm falling in love with Control :V
thought it was the jumping one but this is amazing too, beautiful
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.
Brilliant idea to use RT panel :)
Amazing work
very cool - from a fellow SJSU alumni
Thats epic. Well done
This is outstanding
Nice... Same thing that's in a quadcopter. What the gyro does in self leveling modes. Pretty cool
just what I needed for my invention !
Useful as a table aboard ships and Planes !
Fantástico! Meus parabéns! Belo trabalho!
Technology is bloody awesome!
My God, that is amazing.
great project
This is absurdly good.
Nice work
This is awesome!
excellent response !
This is amazing. Just amazing.
Amazing job
Really cool and interesting
working on the same using PSO technique for PID tuning,, its great
REALLY GOOD work bro
I love that you're using a nunchuck.
Great Job!
this is brilliant!
Quite Interesting! A touch screen, very cool
that is just amazing !! thank you.
thats awesome. good work
That’s amazing!
great work
My heart is racing from the shaking of the plate
AWESOMEEEEEEEEE!!!!!! EXCELENT JOB!
Well done!
Outstanding!
great project! great performance! Can you give some detailed information...e.g. how do you filter and reject measurement noises?
Good job!
Looks like a wii nunchuck. Really amazing control
I have no idea what I just watched but that was super hella cool, if only I could design things that sweet.
I'm just satisfied with the ball ending up perfectly in the middle just when the video ends. I can rest peacefully now :)
superb control u tued it good
This is wonderful! Please fix the jittery movement when you remove the ball (it should be pretty easy) and it will be fantastic!
this is mind bending
the future is upon us!
Wells done congrat!!!!
Very nice, bro
It took balls to take this on as a semester project
Next semester project - robotic arm with gentle touch.
Friggin amazing
I want one!! 🔥🔥
Touch screen through decoder onto servos. Nice one.
Fantastic !!!
this is AWESOME
I WANT TO BUILD ONE!!!!! That is awesome!
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.
Gives me chills :)
NICE MAN !
holy shit, i can only imagine the work that was put into it >.>
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.
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
Brilliant!
Put a top on it , one of those childrens battling ones with erratic spins...please! Cool vid@ FMD
Very awesome!
These would make great DIY build kits...
So cool !
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.
GREAT WORK BUDDYY.....
GREAT IS LESS.. IT S GREATER THAN GREAT
Thats sick!!!
I really appreciate your work
can u tell me what type of plate n what is the material used for the plate
Good stuff
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.
Ultracool maaan!
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
Wow!!! Nicely done.. :
extraordinario
incredible
Just awesome :D
It would be great to see this on a boat or plane, keeping the ball still in the middle. Very cool
I am proud to be a Control Engineering student.