Ball Balancing Robot (Ballbot)

Abstract

One of the most challenging problems in a control system is balancing a system. This project presents the design and implementation of the ball-balancing robot. The system consists of a rigid plate with a ball rolling freely on the plate, two motors to control the plate, a camera to detect the position of the ball and give feedback to the system, and a Raspberry Pi that will run the algorithms. The aim is to maintain a stable ball position on the plate, rejecting position disturbances. The result is the ball is balanced at the center of the plate. Keywords - Ball Balance, Balancing Robot, PID controller.