Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder

Year 2021, Volume: 25 Issue: 1, 72 - 82, 01.02.2021

Gokhan Bayar

https://doi.org/10.16984/saufenbilder.726455

Abstract

In this study, a new perspective for developing laser scanner rangefinder based data clustering system for a 2DOF robotic ball balancer was proposed. The study focused on detecting an object (i.e., ball) on the tilt-table robotic platform using the sensor fusion and data clustering systems proposed. Clustering system was modeled by following the principles of hierarchical clustering method. The developed system involving the clustering and sensor fusion algorithms was embedded in Matlab-Simulink environment to be able to run in real-time applications. The system was tested using an experimental platform including a 2DOF robotic ball balancer equipped with high resolution encoders and a laser scanner rangefinder. In the experiments, the goal was to detect the ball and its position not only on the flat but also on the tilted platform. A camera was also attached to the top of the experimental setup and used to monitor the location of the ball on the platform. By this way the results obtained using the proposed system could be verified for accuracy, performance and repeatability issues.

Keywords

Robotic ball balancer, laser scanner rangefinder, identification, object detection, sensor fusion, hierarchical clustering

Supporting Institution

Zonguldak Bulent Ecevit University

Project Number

2013-77654622-03

Thanks

The author thanks to the infrastructure project of the Mechanical Engineering Department of Zonguldak Bulent Ecevit University (Zonguldak, Turkey) numbered 2013-77654622-03 for providing the equipment of 2DOF robotic ball balancer and laser scanner rangefinder used in this research.

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