PID Ball Controller

Creator* and Developer

A digital equilibrist.


*Inspired by this controller, I'm developing a controller that uses a Stewart platform and equilibrates a metal ball. My goal is to better understand how control algorithms work, like the PID algorithm.

With this first effort, I implemented a PID algorithm with the gains defined by the Ziegler-Nichols method. In the future, I plan to solve this control problem using Reinforcement Learning.


So far, I worked around 20 hours in this project. All the work is being done by myself.

I designed it with Fusion 360. I have printed all the parts with an Anycubic Kossel Linear Plus 3D printer.

I'm using a simple Arduino Uno for the device, programming it in C++11.

The metal ball localization is been made by a resistive touchscreen.