Pulnix TMC-7DSP Instrukcja Użytkownika Pobierz pdf (Strona 4)

The goal of the project

The Gimbal is a 2 DOF rotating robot. It consists of a vertically rotating shaft extending into a fork

and another shaft placed in between the fork ends, which rotates horizontally [2, App. I]. A laser

pointer can be attached to Gimbal’s horizontally rotating shaft and the laser can be directed to point

certain direction by rotating Gimbal.

Figure 1 Gimbal

Figure 2 Project arrangement with camera

The goal of the project was to be able to track an undetermined line on the paper/wall with the

pointer of the laser. The camera was used as the feedback for the system. The camera can be located

without restrains as long as the track can be seen in the picture. (See Figure 2) Because of this

arrangement the camera will provide inaccurate and uncalibrated information. Therefore we use

Iterative Learning Control (ILC) to find the best output for the system.

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Pulnix TMC-7DSP Instrukcja Użytkownika Strona 4