Auto balancing table - GIF

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Oct 3, 2022, 08:27 PM
Altair

Auto balancing table - GIF

Auto balancing table.

<video controls autoplay loop> <source src="https://diqn32j8nouaz.cloudfront.net/autobalancing_table_pingpong.mp4" type="video/mp4"> Your browser does not support the video tag. </video>

Previously:

https://www.homemadetools.net/forum/...138#post211024
https://www.homemadetools.net/forum/...601#post104718
https://www.homemadetools.net/forum/...446#post158488
https://www.homemadetools.net/forum/...470#post151091
https://www.homemadetools.net/forum/...985#post140812
Oct 3, 2022, 09:32 PM
Frank S

looks like a scaled prop taken from a Nicolus Cage movie
Oct 4, 2022, 07:54 PM
nova_robotics

I'd love to see what they're using for a control system. A camera above looking down connected to a machine running OpenCV for position tracking, probably just using very fast color tracking (that's why they have a blue table and a contrasting orange ball). But the 2 dimensional PID loop for the motors is probably pretty interesting as well. Is there a Github page for this project?

Also Cubli:

https://www.youtube.com/watch?v=n_6p-1J551Y
Oct 5, 2022, 02:04 AM
tonyfoale

Quote:

Originally Posted by nova_robotics

I'd love to see what they're using for a control system. A camera above looking down connected to a machine running OpenCV for position tracking, probably just using very fast color tracking (that's why they have a blue table and a contrasting orange ball). But the 2 dimensional PID loop for the motors is probably pretty interesting as well.

I would think that it was simpler than that. You could just balance the load on each leg. Or maybe a 2D Segway with an IMU.
Oct 9, 2022, 07:14 AM
nova_robotics

Quote:

Originally Posted by tonyfoale

I would think that it was simpler than that. You could just balance the load on each leg. Or maybe a 2D Segway with an IMU.

Nah it's gotta be a second order system. You have to pay attention to the position of the ball as well as the momentum. If the ball is in the middle of the table but stationary you must react very differently than if the ball is in the middle of the table but rolling quickly toward one edge. Even the Segway is not a first order system. PID control is neat stuff.