Robotic Platform for Position Control of a Ball

The present paper proposes and describes an approach to stabilizing a ball on a rectangular surface using a three-armed robotic system. The system is based on advanced image detection for accurate ball and surface identification. The hardware includes three servo motors controlled by an Arduino board, and the camera used is a mobile phone connected to the computer. The control of the arm movements is achieved by a PD controller. The components were printed with a 3D printer. The technical details of the system, as well as the PD controller are presented in detail, highlighting the effective interaction between the theoretical and practical sides. The development of this system offers an interdisciplinary perspective, combining knowledge from mechatronics, machine vision, and robotic control.