automated ball striker
DESCRIPTION
Automated Ball Striker. Joseph Black David Caloccia Gina Rophael Paul Savickas. Presentation Outline. Motivation Objective Specifications Design Approach Results Assessment Conclusion. Motivation. - PowerPoint PPT PresentationTRANSCRIPT
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Automated Ball Striker Joseph Black David Caloccia Gina Rophael Paul Savickas
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Presentation OutlineMotivationObjectiveSpecificationsDesign ApproachResultsAssessmentConclusion
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MotivationExtension of the Ping Pong Shooter from Team 2 of Spring 2005
Inspiration: to develop training equipment for ping pong players.
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ObjectivesTo strike a vertically launched ping pong ball.
Launch a ping pong vertically at various heightsVisually locate the launched ping pong ballProcess data to determine balls position and velocityDevelop trajectory for paddles motionDesign a controller to track the desired path
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Specifications
Step response:Steady State Error0.195%Percent Undershoot 12.58%Rise Time 0.43 sSettling Time 1.43 sOther Specifications:Range of Motion (Pan) -80to +100Range of Motion (Tilt) 0to +90Payload 200 gramsNoise Tolerance 95%Weight of the System is ~1KgCommercial Cost $2462.75 Speed is 8rad/sec for pan and for tilt 10rad/secImages processing rate 30 frames/secondSampling time for the controller 10 micro sec
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1.481.534
1.481.534
1.481.534
1.481.534
1.481.534
1.4821.534
1.4821.534
1.4831.534
1.4831.534
1.4831.534
1.4851.534
1.4851.534
1.4851.534
1.4851.534
1.4861.534
1.4861.534
1.4881.534
1.4881.534
1.4881.534
1.4881.534
1.4881.534
1.4891.534
1.4891.534
1.4891.534
1.4911.534
1.4911.534
1.4931.534
1.4931.534
1.4931.534
1.4931.534
1.4931.534
1.4941.534
1.4941.534
1.4941.534
1.4961.534
1.4961.534
1.4961.534
1.4971.534
1.4971.534
1.4971.534
1.4971.534
1.4971.534
1.4991.534
1.4991.534
1.4991.534
1.51.534
1.51.534
1.51.534
1.51.534
1.5021.534
1.5021.534
1.5021.534
1.5021.534
1.5031.534
1.5031.534
1.5031.534
1.5031.534
1.5031.534
1.5051.534
1.5051.534
1.5051.534
1.5051.534
1.5051.534
1.5051.534
1.5051.534
1.5061.534
1.5061.534
1.5061.534
1.5061.534
1.5061.534
1.5061.534
1.5061.534
1.5061.534
1.5061.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
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1.5081.534
1.5081.534
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1.5081.534
1.5081.534
1.5081.534
1.5081.534
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1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
1.5081.534
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1.5081.534
1.5081.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
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1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5091.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5111.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5131.534
1.5141.534
1.5141.534
1.5141.534
1.5141.534
1.5141.534
1.5141.534
1.5161.534
1.5161.534
1.5161.534
1.5161.534
1.5161.534
1.5161.534
1.5161.534
1.5171.534
1.5171.534
1.5171.534
1.5171.534
1.5171.534
1.5171.534
1.5171.534
1.5171.534
1.5191.534
1.5191.534
1.5191.534
1.5191.534
1.5191.534
1.5191.534
1.521.534
1.521.534
1.521.534
1.521.534
1.521.534
1.5221.534
1.5221.534
1.5221.534
1.5221.534
1.5221.534
1.5221.534
1.5221.534
1.5231.534
1.5231.534
1.5231.534
1.5231.534
1.5231.534
1.5231.534
1.5231.534
1.5251.534
1.5251.534
1.5251.534
1.5251.534
1.5251.534
1.5251.534
1.5251.534
1.5261.534
1.5261.534
1.5261.534
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1.5261.534
1.5261.534
1.5281.534
1.5281.534
1.5281.534
1.5281.534
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1.5281.534
1.5281.534
1.5281.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5291.534
1.5311.534
1.5311.534
1.5311.534
1.5311.534
1.5311.534
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1.5311.534
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1.5311.534
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1.5311.534
1.5311.534
1.5311.534
1.5311.534
1.5311.534
1.5311.534
1.5311.534
Postion
Desired
Time in seconds
Position in radians
Pan step response
panstep2
00.002000
0.0010.002000
0.0020.0021.53400
0.0030.0021.53401
0.0040.0021.53401
0.0050.0021.53401
0.0060.0021.53401
0.0070.0021.53401
0.0080.0021.53401
0.0090.0021.53401
0.010.0021.53401
0.0110.0021.53401
0.0120.0021.53401
0.0130.0021.53401
0.0140.0021.53401
0.0150.0021.53401
0.0160.0021.53401
0.0170.0021.53401
0.0180.0021.53401
0.0190.0021.53401
0.020.0021.53401
0.0210.0021.53401
0.0220.0021.53401
0.0230.0021.53401
0.0240.0021.53401
0.0250.0021.53401
0.0260.0021.53401
0.0270.0021.53401
0.0280.0021.53401
0.0290.0021.53401
0.030.0021.53401
0.0310.0021.53401
0.0320.0021.53401
0.0330.0021.53401
0.0340.0021.53401
0.0350.0021.53401
0.0360.0021.53401
0.0370.0021.53401
0.0380.0021.53401
0.0390.0021.53401
0.040.0021.53401
0.0410.0021.53401
0.0420.0021.53401
0.0430.0021.53401
0.0440.0021.53401
0.0450.0021.53401
0.0460.0021.53401
0.0470.0021.53401
0.0480.0021.53401
0.0490.0021.53401
0.050.0021.53401
0.0510.0021.53401
0.0520.0021.53401
0.0530.0021.53401
0.0540.0021.53401
0.0550.0021.53401
0.0560.0021.53401
0.0570.0021.53401
0.0580.0021.53401
0.0590.0021.53401
0.060.0021.53401
0.0610.0021.53401
0.0620.0021.53401
0.0630.0021.53401
0.0640.0021.53401
0.0650.0021.53401
0.0660.0021.53401
0.0670.0021.53401
0.0680.0021.53401
0.0690.0021.53401
0.070.0021.53401
0.0710.0021.53401
0.0720.0021.53401
0.0730.0021.53401
0.0740.0021.53401
0.0750.0021.53401
0.0760.0021.53401
0.0770.0021.53401
0.0780.0021.53401
0.0790.0021.53401
0.080.0021.53401
0.0810.0021.53401
0.0820.0021.53401
0.0830.0021.53401
0.0840.0021.53401
0.0850.0021.53401
0.0870.0021.53401
0.0880.0021.53401
0.0890.0021.53401
0.090.0021.53401
0.0910.0021.53401
0.0930.0021.53401
0.0940.0021.53401
0.0950.0021.53401
0.0960.0021.53401
0.0970.0021.53401
0.0980.0021.53401
0.10.0021.53401
0.1010.0021.53401
0.1020.0021.53401
0.1030.0021.53401
0.1040.0021.53401
0.1060.0021.53401
0.1070.0021.53401
0.1080.0021.53401
0.1090.0031.5340.0141
0.110.0031.5340.0141
0.1120.0051.5340.5171
0.1130.0061.5340.8641
0.1140.0061.5340.8641
0.1150.0081.5341.0411
0.1160.0081.5341.0411
0.1170.0091.5340.8941
0.1190.0111.5340.6751
0.120.0111.5340.6751
0.1210.0121.5340.6851
0.1220.0121.5340.6851
0.1230.0141.5340.8271
0.1250.0151.5340.8611
0.1260.0171.5340.9861
0.1270.0171.5340.9861
0.1280.0181.5341.1561
0.1290.021.5341.4671
0.1310.0231.5341.21
0.1320.0251.5341.2781
0.1330.0251.5341.411
0.1340.0261.5341.411
0.1350.0281.5341.3911
0.1360.0291.5341.4191
0.1380.0341.5341.7511
0.1390.0351.5341.7551
0.140.0371.5341.8391
0.1410.0381.5342.1071
0.1420.0411.5341.8221
0.1440.0441.5341.9671
0.1450.0461.5341.781
0.1460.0481.5341.7291
0.1470.0511.5341.9871
0.1480.0521.5341.8331
0.150.0551.5341.8131
0.1510.0581.5341.8751
0.1520.061.5341.8781
0.1530.0611.5341.8941
0.1540.0631.5342.1981
0.1550.0661.5341.9541
0.1570.0711.5342.1481
0.1580.0721.5342.1421
0.1590.0751.5342.6491
0.160.0771.5342.4121
0.1610.081.5342.4661
0.1630.0841.5342.4471
0.1640.0871.5342.831
0.1650.0911.5342.5021
0.1660.0921.5342.5271
0.1670.0951.5342.5311
0.1690.11.5342.9111
0.170.1031.5342.61
0.1710.1061.5342.951
0.1720.1091.5342.6041
0.1730.1121.5343.1051
0.1740.1141.5342.7491
0.1760.121.5342.7051
0.1770.1231.5342.7641
0.1780.1261.5342.7541
0.1790.1271.5342.6911
0.180.131.5343.2091
0.1820.1371.5343.4321
0.1830.141.5343.0141
0.1840.1441.5343.2161
0.1850.1471.5343.2431
0.1860.151.5343.2641
0.1880.1561.5343.2291
0.1890.161.5343.7051
0.190.1641.5343.1831
0.1910.1671.5343.7051
0.1920.171.5343.1831
0.1930.1731.5343.8541
0.1950.1811.5343.5021
0.1960.1841.5343.4711
0.1970.1871.5343.3941
0.1980.1921.5343.8931
0.1990.1951.5343.4011
0.2010.2021.5343.4711
0.2020.2061.5343.4781
0.2030.2091.5343.9641
0.2040.2131.5343.4781
0.2050.2161.5344.1571
0.2070.2241.5343.8161
0.2080.2291.5344.2611
0.2090.2321.5343.7881
0.210.2361.5343.9741
0.2110.2411.5344.3581
0.2120.2441.5343.9131
0.2140.2531.5344.5121
0.2150.2561.5343.8251
0.2160.2611.5344.081
0.2170.2651.5344.4851
0.2180.2681.5343.9841
0.220.2781.5344.5651
0.2210.2811.5344.1681
0.2220.2851.5344.0261
0.2230.291.5344.6771
0.2240.2951.5344.0691
0.2260.3021.5344.6771
0.2270.3071.5344.2971
0.2280.3111.5344.1911
0.2290.3161.5344.4721
0.230.3211.5344.7941
0.2310.3251.5344.5651
0.2330.3341.5344.721
0.2340.3391.5345.0131
0.2350.3441.5344.6481
0.2360.3481.5344.5521
0.2370.3531.5344.6341
0.2390.3641.5345.1131
0.240.3671.5344.721
0.2410.3731.5344.5791
0.2420.3771.5344.9011
0.2430.3821.5345.3641
0.2450.3911.5344.871
0.2460.3971.5344.621
0.2470.4021.5344.8541
0.2480.4071.5345.3641
0.2490.4111.5344.7641
0.250.4161.5344.9171
0.2520.4261.5344.8851
0.2530.4331.5345.291
0.2540.4371.5345.6811
0.2550.4421.5345.7671
0.2560.4481.5345.1651
0.2580.4591.5345.0961
0.2590.4631.5345.1821
0.260.4691.5345.3641
0.2610.4741.5345.8111
0.2620.481.5346.0161
0.2640.4911.5345.5181
0.2650.4971.5345.3451
0.2660.5021.5345.3451
0.2670.5081.5345.3451
0.2680.5141.5345.2531
0.2690.5181.5345.5181
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