3DoF Ball Balancing
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Using IK, a PID controller, and a camera, I balanced a ball in 2 weeks.
Jitter comes from the ball tracking center location being sent to the arduino
Here's what happens every time step:
Kinematics
Camera Transforms
Convert platform angle to servo angles
Rotate the camera frame A so that the x y locations of the ball line up with the kinematic frame B
Images
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