Ball Balancing Table

Ball Balancing Table

2-DoF Control Platform for Teaching and Research
ACROME Ball Balancing Table is an innovative ball plate experiment system suitable for controls and mechatronics education and advanced research topics.
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REFERENCE CUSTOMERS

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OVERVIEW

Ball Balancing Table, with its easily accessible and user-friendly components, is a hands-on experiment, closing the gap between real industrial systems and DIY-approach. Students can understand the effects of different controller types on the system and easily cover controller design concepts with control system experiments. The ready-to-use courseware and a wide range of software options give the maximum flexibility to learn the essential aspects of control theory by experimenting. The system is also suitable for graduate studies for designing advanced controller types such as robust control, adaptive control, and so on. Open-source software makes it possible that students and researchers can modify and test their own developed algorithms.
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SMD PRODUCTS

SMD - RED

Smart Brushed Motor Driver with Speed, Position and Current Control Modes

$79.00
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SMD - Starter Kit

For SMD RED Smart Brushed Motor Driver (Recommended for New Users)

$210.00
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SMD - Education Kit

For Teaching Robotics, Sensors, and Actuators

$1,200.00
Buy From RobotShop

SOFTWARE OPTIONS

LabVIEW, Real-Time (optional), FPGA (optional)
Altair Activate
Executable & GUI
Python
LabVIEW, Real-Time, FPGA (optional)
Python and OpenCV
API for External Control (Examples for LV, Matlab, Python)
MatLab/Simulink
C with STM32 software
API for External Control (Examples for LV, Matlab, Python)
* Different controllers may require

CONTROLLER OPTIONS

USB (PC based)
Raspberry Pi + Shield
NI myRIO
Arduino Mega + Shield

APPLICATION AREAS

Professional Photography
Medical Applications
Wearable Items
Quality Assurance
Engineering Research Applications
Positioners' Algorithm Research
Starting From
$7,499
Stewart platform
Ready to use GUI
API for external programming
Customization options available
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PRODUCT PHOTOS

SPECIFICATIONS

Standard Unit
Customizations Options
Payload
12 kgs (26,5 lbs)
Up to 150 kgs (331 lbs)
Workspace Options
X and Y Axis +/-60 mm
Z Axis +/-50 mm
Roll, Pitch, Yaw +/- 20°  
Up to +/-300 mm
Up to +/-150 mm
Up to +/- 45°  
Position Repeatability
+/- 100 µm
Down to +/- 25 µm
Angular Sensitivity
0.2°
Down to 0.1°
Max. Linear Speed
40 mm/sec.
Up to 80 mm/sec.
Height (min-max)
406-506 mm
330-920 mm
Platform Diameter
350 mm (hexagonal)
250-1000+ mm
Base Diameter
450 mm (hexagonal)
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options

SPECIFICATIONS

Payload
260 gr.
Workspace
± 7° in Pitch & Roll
Position Repeatability
± 1mm.
Angular Sensitivity
0.36°
Max. Speed
90 °/second
Height (min-max)
130mm. - 150mm. (± 2mm.)
Height
Rod Height
Platform Dimensions (Length * Width)
375mm. * 310mm. (± 2mm.)
Base Dimensions (Length * Width)
410mm. x 350mm. (± 2mm.)
Weight
4,400 gr.
Propeller Wingspan
Ball Diameter
40mm. (± 1mm.)
Magnet Diameter
Rod's Diameter
Motor Type
RC Servomotors with Built-In Encoder
Feedback Sensors
Resistive Touch Sensor (1200px * 800px)
Power Requirement
12 V - 5 A

FEATURES

Assembled and ready to control plant with the integrated power unit

Getting Started Program with rich Graphical User Interface for out-of-the-box user experience

Implementation of advanced digital control techniques

Fully compatible with MATLAB®/Simulink®, LabVIEW™ and Altair Activate®

Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™, Altair Activate®

Ball position feedback using a high precision touch surface (camera-based feedback optional) Actuating the table by RC servo motors, which are familiar to students

Rectangular and circular path options are integrated into the software

Enables students to create their own real-time algorithms. Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems

Digital twin available in Altair software.

FAQs

What is Ball Balancing Table?
The Ball Balancing Table system is an automatic control system, used for teaching control systems and various control algorithms.
What is a Ball Balancing Table used for?
The Ball Balancing Table is used for trying different algorithms to control the ball's position in 2 different horizontal directions, in a safe and repeatable manner.
What is the feedback sensor type?
An analogue touch sensor is used to determine the position of the ball. The servo motor has also an optional potentiometer to measure the position of the servo motor's arm. Product can also optionally provided with an Inertial Measurement (IMU) sensor to measure the tilt angles of the moving plate.
Is there a non-academic version for other usage purposes?
Yes there is a maker version based on Python software. Custom software options also exists for different test scenarios.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

Components of Ball Balancing Table
RC Servo Motors
Touch Sensor Controller
Acrome Power Distribution BoxMechanics of the System
FUNDAMENTALS OF PWM
PWM Signaling Theory
Generating PWM Signals Driving
RC Servos with PWM Signals
SYSTEM MODELING
Lagrangian Method
Newton’s Law of Motion
Modeling of Actuator
Obtaining Transfer Function
FEEDBACK IN CONTROL SYSTEMS
Reading Ball Position from Touch Sensor
Derivative Filtering
PERFORMANCE MEASURES
Time Domain Characteristics
Steady State Response and Steady State Error
CONTROL SYSTEM DESIGN
Design of Linear Controllers
PID controller and Fuzzy Logic Controller
Comparing the Simulation and Real System Responses for Different Controllers
CONTROL SYSTEM VERIFICATION
Frequency response analysis
Experimental Bode Diagram
Cut-Off Frequency Determination
Info Sheet Download
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SPECIFICATIONS

*We offer customization in our product upon customer’s request.

RELATED ARTICLES

Ball Balancing Table Maze Solver - Reinforcement Learning

7
Min

In this project, we investigate the application of PID control and Q-learning algorithms to the Ball Balancing Table (BBT) in order to solve a maze. An open-source tool called the BBT makes it possible to experiment with control systems directly. The device can guide a ball through a maze by adjusting the tilt of the table, imparting important knowledge about reinforcement learning, control theory, and feedback systems. The table's orientation is adjusted by using a PID controller in response to real-time feedback from the ball's position. A matrix of 0s and 1s with open paths and walls, respectively, is used to depict the maze. The system associates movements with the Q-learning reinforcement learning algorithm to learn how to move the ball through the maze.

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ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

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