Abstract
This paper presents the mathematical modeling, design, and implementation of a ball balancer. The aim is to balance the ball at a desired position on the base plate. Ball balancer with two degrees of freedom uses machine vision as feedback and DC servomotors as actuators. Mathematical modeling of ball balancer system is done based on Lagrange–Euler equation, processing of the real-time image, and finding the co-ordinates of the ball is done using Open Source Computer Vision Library software. The co-ordinates of the ball are sent to Arduino through universal serial bus (USB) to transistor—transistor logic (TTL) converter. Perfect balancing of the ball is achieved using a proportional—derivative (PD) controller and pole placement technique. Stability of the designed ball balancer system is verified by its time response analysis using MATLAB/Simulink.
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Sakthi Ganesh, M., Anitha Roseline, J., Sowmya, G., Vishwa Raj, V. (2021). Closed-Loop Vision-Based Ball Balancer. In: Dash, S.S., Panigrahi, B.K., Das, S. (eds) Sixth International Conference on Intelligent Computing and Applications . Advances in Intelligent Systems and Computing, vol 1369. Springer, Singapore. https://doi.org/10.1007/978-981-16-1335-7_1
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DOI: https://doi.org/10.1007/978-981-16-1335-7_1
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