![]() As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. A lever arm is attached to the beam at one end and a servo gear at the other. The position of the ball is measured by a distance sensor mounted at the end of the beam.Ī PID controller is used to control the position of the ball on the beam.Ī ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam. The pitch is controlled by a servo that is connected to an Arduino. The assignment was to construct a ball and beam control system.Ī ping pong ball sits on top of the beam rolling forward and backward according to the pitch of the beam. ![]() ![]() The BallandBeam project was developed at the National Institute of Applied Science and Technology ( INSAT) in Spring 2019. ![]()
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