Robotic ball balancing beam(RBBB)

Abstract

The RBBB system is designed to balance and move a ball on two parallel beams in order to automatically control the position of the ball on parallel beams. The ball retains the central position and system tries sine and square waves in different frequencies with or without a human finger push in order to follow input of the system or to respond the current ball position. The prototype control methodology runs lab view program via RS232 serial port which is connected to a multi function deriver board to cover motor and encoder requirements. A lead controller also employed to cover control requirements. The outputs of the system track the inputs however no static frictions and motor backlash exists in simulation results. As a finding of the system, the transient response is very important to overcome the problem of instability in this system .This system is not designed to cover large amplitude input requirements due to instability of these kinds of systems. It is generally linked to real control problems such as horizontally stabilizing an airplane during landing and in turbulent airflow.