King Mongkut’s University of Technology Thonburi (KMUTT)

Ball balancing Robot Phase IV


Ball balancing Robot Phase IV

 

Project Advisor

                Asst.Prof.Dr. Sudchai Boonto

Candidate

                Mr.Katesara Panich

                Mr.Teerawat Korkiatthaweechai

Abstract

                A Ball balancing robot is the robot that can balance itself on a ball by using 4 rollers. To balance the robot, we will control motors by using the principle of the inverted pendulum for controlling 4 rollers. The Ball balancing robot will reduce the limitation of side moving and turning of other robots with wheels. This project will use a different structure from phase 1 to 3 which are used the same structure (ball balancing robot is controlled by 3 omnidirectional wheels). The new structure allows the robot to drive the robot on planar which can eliminate the problem about the hopping motion. Furthermore, the robot can handle the increasing weight more than using the first structure which used the omnidirectional wheels so it causes increasing balancing stability. The structure of robot consists of DC motor, motor driver for driving 4 rollers, an IMU and a Microcontroller. To control balance of the robot, we measure the angle from the IMU and calculate the velocity of wheels in x-y direction to control the motors which are DC motors to transmit forces in the term of velocity vectors for balancing the robot.




คลิกที่รูปเพื่อดูรูปกิจกรรม





Back / ย้อนกลับ | update : 21/11/2560

TOP