Ball and Plate PID Control With 6 DOF Stewart Platform

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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.

source/image: Full Motion Dynamics

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.

The Ball on Plate system is figured out as the 2-D evolution of the Ball on Beam system. It has an x and y-dimension which allows the ball to roll along different paths.

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The ball is restricted to one dimensional movement, which is along the beam only. The sensor used in this system measures the ball position and is usually a resistance wire running along the beam.

VIAFull Motion Dynamics
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