Five Bar Mechanism

As part of a two-person group I developed control software for five-bar mechanism. A feed-forward controller was used to compensate for the effects of gravity while a feed-back, PID (Proportional Integral Derivative) controller was used to "move" the five-bar mechanism to different locations/states. A webcam tracked a colored plastic ball and the control software produced the commands to make the red circle (apex of the mechanism) follow the motions of the ball.