Orient_Ball_Balancing_Robot

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Orient_Ball_Balancing_Robot

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# Orient - Ball Balancing Robot 
![alt text](https://github.com/NishitMittal2004/Orient_Ball_Balancing_Robot/blob/main/Ball%20Balancing%20Robot%20-%20Poster.png)

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## 📌 Overview [(Youtube Link)](https://youtu.be/bi4151fWoTY?si=JoRBgQAYI115yuMf)

**ORIENT** is a ball-balancing **3-RRS (Revolute-Revolute-Spherical)** Platform. It can dynamically balance a ball in real time and perform motion tasks such as moving in straight lines, quadrants, and even circles. The robot uses real-time computer vision, inverse kinematics, and PID control for its operation.

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## 🔧 Tools & Concepts Used

- Python
- SolidWorks
- 3d Printing
- OpenCV (Contour Detection, HSV Tuning)
- Inverse Kinematics (for 3-RRS)
- PID Control

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## 🎥 Video of robot balancing the ball
![](https://raw.githubusercontent.com/NishitMittal2004/Orient_Ball_Balancing_Robot/main/Balance.gif)

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## 🧰 List of Components [(Link)](https://github.com/NishitMittal2004/Orient_Ball_Balancing_Robot/blob/main/List%20of%20Components.pdf)

| S.No | Component | Quantity | Purpose | 
|------|-----------|----------|---------|
| 1. | **Raspberry Pi 5** | 1 | Main processing unit |
| 2. | **Raspberry Pi Active Cooler** | 1 | Heat management for Pi | 
| 3. | **5MP Camera Module (for Pi 5)** | 1 | Vision (ball detection) | 
| 4. | **Camera Cable** | 1 | Connects camera to Pi | 
| 5. | **MG995 Servo Motors** | 3 | Actuation of platform | 
| 6. | **PCA9685 Servo Driver** | 1 | Servo PWM control |
| 7. | **5V/2A DC Adapter** | 1 | Powers servo driver | 
| 8. | **Female DC Jack** | 1 | Connects adapter to servo driver|
| 9. | **Ball Joint (M6)** | 3 | Platform joints (RRS design) | 
| 10. | **Ball Bearings (ID - 6mm, OD - 16mm)** | 3 | For joint rotation |

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## 🧮 Inverse Kinematics [(Notes)](https://github.com/NishitMittal2004/Orient_Ball_Balancing_Robot/blob/main/Inverse%20Kinematics%20Maths.pdf)

We derived and implemented the IK for the 3-RRS platform to calculate the exact servo angles required to achieve desired platform tilt and height. This allowed precise control over the ball's motion.

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## 👁️ Ball Detection with OpenCV

- HSV Trackbar for color tuning
- `cv2.findContours` and `cv2.minEnclosingCircle` to detect the ball
- Real-time position and area returned for control logic

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## 🎛️ PID Tuning

After exhaustive tuning and testing, a finely tuned PID controller was implemented, keeping the ball at the center.

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## 📐 CAD Files [(Link)](https://github.com/NishitMittal2004/Orient_Ball_Balancing_Robot/tree/main/CAD%20STLs)

All the 3D models used in this project—including the base, platform, servo holders, and linkages—were custom-designed using SolidWorks. You can find the .stl files in the /CAD STLs directory. These files are ready for 3d printing.

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## 👨‍💻 Authors

- **Nishit Mittal**  [(LinkedIn)](https://www.linkedin.com/in/nishit-mittal-15nm/)
- **Sahil Sharma**   [(LinkedIn)](https://www.linkedin.com/in/sahilsharma55/)

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