Development of a ball balancing robot | |
| Author | Som Apiwatcharoenkul |
| Call Number | AIT Thesis no.ISE-12-30 |
| Subject(s) | Robots Mobile robots Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-30 |
| Abstract | The challenge in developing the ball balancing robot (or called Ballbot) is to control the robot which can balance itself on a ball without falling down . There are many design concepts and techniques to balance the robot. This research concerns about how to control the Ballbot designed by using four omni -wheels drive mechanism . The PID and LQR controller is applied to the simulation model and the real robot in order to observe the response of the robot. In this thesis, both simulation and real hardware experiments are presented and discussion. The simulation result uses the Simulink in the Matlab program to simulate. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-30 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Bohez, Erik L.J.;Mongkol Ekpanyapong |
| Scholarship Donor(s) | RTG Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |