Ball Hopper: Gripper Robot

ELEC 391 - Electrical Engineering Design Studio II (January - March 2023)

Team Members

• Analog Electronics: Idil Bil
• Digital Electronics: Kerem Oktay
• Optimal Control: Phi Lam
• System Identification: Jaydon Alexis

Proof of Concept Videos

Analog

• Homing Circuit: https://drive.google.com/file/d/1XPwnbltA7bYrDxhqjHbavb2MQuFamWF6/view?usp=sharing
• Motor Driver Response to PWM Signals: https://drive.google.com/file/d/1h0WLaYGfkV7tp02XX7nt_eYF0rJrJksn/view?usp=sharing

Digital

• Missed Pulses Test: https://drive.google.com/file/d/1QNyGvOfNERpase1NgM-POGZV6O9L-rX4/view?usp=sharing
• Both Directions Counting: https://drive.google.com/file/d/1wTb4RRv8bWMMX-Ec8G-Ff5oxxHRGX3V3/view?usp=sharing

Optimal Control

• Gripper Mechanism Control: https://drive.google.com/file/d/1wUlJKEUdJ5kxWtdi2DNFExJYAqgorsBL/view?usp=sharing
• Interrup Service Routine Running: https://drive.google.com/file/d/1-M_vfCSoojId2iBqmILGAV9uz4eYeyNS/view?usp=sharing

System Identification

• Gripper Mechanism Simulation on MATLAB/Simulink: https://drive.google.com/drive/folders/1JD9nbEjx4Q1AWdH3Mn-C0eqIqGHE8A6V?usp=sharing

Other Videos

• The control system working before integration, with sensors: https://drive.google.com/file/d/1pgXOPBrIMusSZi8hItNfwTtvf7tGX0xt/view?usp=sharing
• Motor moving the fingers: https://drive.google.com/file/d/19ZQQKfPF29rKkGoej6QkP3fz3SBA11u9/view?usp=sharing
• The finger picking up a tennis ball: https://drive.google.com/file/d/1Nz7Qj5wmDarD6SwZJ-01VuMlN-VZ1lDX/view?usp=sharing