Developing a trajectory planning algorithm for ball and plate system
The purpose of this thesis is to create and apply an algorithm that can drive a servo motor to tilt a touch-screen panel sensor which will move a specified ball in a given rule. This thesis is an extension of an already constructed Ball & Plate System made previously by the author?s predecessor. This thesis will not improve the mechanical construction or the electrical/power efficiency. The method to develop the algorithm is by creating a mathematical model to make 3 kinds of movements: user based input setpoint, moving the ball back to the center, and moving the ball to specified rectangular corners. To stabilize the system, a closed loop Proportional-Integral-Derivative control system is used.
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