Ball & Plate model for robotic system

Abstract

There are many solutions to control Ball & Plate model, ranging from hobby projects to more advanced control. This paper brings a new idea of control using robotic manipulator. This is quite challenging because industrial robots are not originally designed as a motion system for relatively fast and unstable system, which the Ball & Plate certainly is. This paper compares 3 controller designs to better comprehend the situation - a general LQR state-space control, LQ polynomial control and a basic PD controller. Results are also compared for a range of reference values to better understand advantages and disadvantages of chosen controllers, which will lead to future work and implementation for the real system. Data presented in this paper serve as a valuable background for next steps of the research and implementation. © ECMS Lars Nolle, Alexandra Burger, Christoph Tholen, Jens Werner, Jens Wellhausen