| Author | Li, Jia |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | The difficulty in design a ball-riding robot is to make a statically unstable system to be dynamically stable. This research involves the control algorithms of a Ballbot based on using 3-perpendicular-wheel drive concept. A PID controller is designed and tested in both simulation and the real Ballbot to observe the dynamics of the system. In the later chapters, both simulation and real hardware experiments will be conducted and discussed. The simulation is conducted in Matlab Simulink program. |
| Keyword | Ball-riding robot; Ballbot; Eulr-Lagrangian method; PID controller
three-perpendicular-wheel drive mechanism |
| Year | 2014 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erick L.J |
| Scholarship Donor(s) | China Scholarship Council, |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2014 |