| Title |
The Implementation of a Ball and Plate system using a 3-DOF Stewart Platform and LW-RCP |
| Authors |
후지야마 유우스케(Yusuke Fujiyama) ; 주도윤(Doyoon Ju) ; 이영삼(Young Sam Lee) |
| DOI |
https://doi.org/10.5370/KIEE.2023.72.8.943 |
| Keywords |
Ball and plate system; 3-DOF Stewart platform; LW-RCP; Parallel robot kinematics |
| Abstract |
A ball and plate system is widely recognized as an effective educational tool for teaching students about the principles of automatic control. This paper presents a practical implementation method of a ball and plate system specifically designed for undergraduate students studying automatic control. Our proposed implementation method incorporates a 3-degree-of-freedom (3-DOF) Stewart platform to manipulate the plate. This allows students to gain hands-on experience in studying the kinematics of a parallel robot.
Additionally, it offers not only pitch and roll motion of the plate but also vertical motion, thereby extending the scope of control problems from 2-DOF to 3-DOF. To facilitate seamless integration with the educational environment, we have designed an interface board for data acquisition and motor driving. This interface board can be used in conjunction with a lab-built LW-RCP system, enabling students with limited experience in embedded systems or programming to easily design real-time controllers using the Simulink environment. The proposed implementation method is demonstrated by constructing and showing a regulation and tracking control system for the ball and plate system. |