Control of Two Degrees of Freedom Ball Balancer Using Image Processing

  • Kiran G. Krishnan
  • Kritika Dutta
  • Steve Abraham Eapen
  • Mathew Martin
  • Jeevamma Jacob
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 103)


The ball-plate system is an unstable open-loop and nonlinear system having 2 degrees of freedom (DOF). This project aims to balance the ball on the plate at the centre or predefined coordinate by adjusting the angle of horizontal plate. The angle of horizontal plate is changed by tilting the plate both in X and Y axes. The actuation is done by two DC servo motors placed in both axes. The feedback of the ball is taken through an overhead camera by processing the images. OpenCV libraries are used for image processing purposes, and Robot Operating System is used as the middleware for the communication between the nodes.


2 DOF ball balancer Ball and plate system Robot Operating System OpenCV Image processing Control system PID controller 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Kiran G. Krishnan
    • 1
  • Kritika Dutta
    • 1
  • Steve Abraham Eapen
    • 1
  • Mathew Martin
    • 1
  • Jeevamma Jacob
    • 1
  1. 1.National Institute of Technology, CalicutKozhikodeIndia

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