Ball-Balancing Control of a Stewart Platform

University of California, Berkeley

08/2022 - 12/2022

Keywords: Stewart Platform, PID controller, Kinematics, Robotics, Arduino, Computer Vision, C-programming, Python, Solidworks

Role

  • Mechanical Design Engineer
  • Controls Engineer

    • Impacts

  • Created and prototyped a mechanical design from scratch.
  • Defined the software stack of the controller algorithm.

    • Skills

  • C programming
  • Python CV2
  • Arduino
  • PID controller
  • Solidworks
  • Product design

    • Descriptions

    Inspired by the many researches about Stewart Platforms, we decided to prototype one on our own. However, instead of using commonly used IMU sensors, we integrated computer vision to track the ball's location and implemented a PID controller to maintain the ball on the platform. In this project, I was responsible for creating the mechanical design of our robotic platform, while also helping out on the software side of the project. I was involved in determining the software stack of our controller algorithm, including the algorithms running on Python and on Arduino and the serial communication between them.

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