A six servo six DOF position controlled platform for sorting application

Abstract

This paper provides the procedural illustration of controlling a self adjusting Plat form(SELF BALANCE PLATFORM) dependent on the hypothesis of controlling the upset pendulum for the ball sorting application. The proposed model is a hexagonal platform to which edges are connected 6 servos controlled through analog potentiometers. The controlling activity of platform is discussed based on the 6 servo position adjustments. Arduino based data processing is mentioned in details to achieve the desired degree of moment. The proposed structure has aimed to set 3 positions merely left right and balanced state,its stability is assessed with respect to accelerometer sensor readout. The Control algorithm worked as per the desired expectation generates the PWM signal to drive the servo motors and validated with the MEMS MPU6030 motion sensor.