Vision-Based Ball Balancing Table

A course project for MIE438: Microprocessors and Embedded Microcontrollers at the University of Toronto.

Video Demo: https://www.youtube.com/watch?v=9Cm7HZLUdoY

CAD Files: https://grabcad.com/library/ball-balance-table-1

To run this code:

sudo pigpiod
sudo python3 ball_balancing_table.py

Control Loop:

• RGB Image captured by a USB webcam at 60 Hz
• Performs HSV Masking, Erosion + Dilation, Contour Finding, and Moments Computation to acquire the ball position using OpenCV
• PID controller to compute the desired position for each servo

Hardware:

• Raspberry Pi 4
• Intel RealSense D405 (or any USB webcam)
• CRAFTSMAN Universal Joint Socket (3/8-Inch Drive)
• 2× MG996R Servos
• 2× 60mm Servo Pull Rod Linkages