The 2 DOF Ball Balancer module is a vision-based control experiment designed to teach intermediate to advanced control concepts. You can use it to demonstrate real-world control challenges encountered in vision-based motion platforms, such as pan-tilt cameras.
The 2 DOF Ball Balancer is based on two Rotary Servo Base Units (SRV02). Using this experiment, students can take what they learned in the one-dimensional Ball and Beam experiment, and apply it to the X-Y planar case. They learn how to:
In addition to teaching vision-based control concepts, the 2 DOF Ball Balancer can be used for research in various areas, including robust control and intelligent control.
How It Works
The 2 DOF Ball Balancer module consists of a plate on which a ball can be placed and is free to move. Two Rotary Servo Base Units are connected to the sides of the plate using 2 DOF gimbals. The plate can swivel about in any direction. By controlling the position of the servo load gears, the tilt angle of the plate can be adjusted to balance the ball to a desired planar position.
The digital camera mounted overhead captures two-dimensional images of the plate and track coordinates of the ball in real time. Images are transferred quickly to the PC via a FireWire connection. Students can make the ball track various trajectories (a circle, for example), or even stabilize the ball when it is thrown onto the plate using the controller provided with the experiment.
The 2 DOF Ball Balancer module comes with Quanser-developed courseware. The workbook with exercises, together with quick start resources, a comprehensive User Manual, pre-designed controllers and a system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.
Topics included in the Quanser-developed courseware:
Control and Control-related Topics
To set up your 2 DOF Ball Balancer workstation, you need additional components. Quanser engineers recommend:
¹ alternatively, you can use Q8-USB, QPIDe or any equivalent NI DAQ device supported by QUARC
² alternatively, you can use two VoltPAQ-X1 amplifiers
³ NI DAQ device must be supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q2-USB, Q8-USB, or QPIDe