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dbkim_ballbeam [2019/06/02 13:58]
dongbinkim
dbkim_ballbeam [2019/06/02 14:05] (current)
dongbinkim
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 The video shows the result with gain of 25. You can see the ball is controlled to reach at 30cm from the motor. The video shows the result with gain of 25. You can see the ball is controlled to reach at 30cm from the motor.
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-==== Conclusion ==== +===== Conclusion ​===== 
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-For questions, clarifications,​ etc, Email: <​[email protected]>​+This tutorial describes single degree of freedom ball balancing system. The main goal of this tutorial is to teach senior undergrad or above (graduate student) classical control theory as well as conversion from simulation into the real life hardware application. The Robot Operating Systems(ROS) is used as software to run the hardware system. PID Compensator is used to deal with the ball position error, and give the feedback angle to the motor. As the motor has the latency for feedback response, additional gain compensation is given to solve the problem. The future work will describe full-state feedback control with different motor selection due to the dynamixel'​s latency is unforgiving. ​For questions, clarifications,​ etc, Email: <​[email protected]>​
  
  
dbkim_ballbeam.txt · Last modified: 2019/06/02 14:05 by dongbinkim