Development and control of ballbot driven by four omni-directional wheels | |
| Author | Lankathilake, Thilina Induranga |
| Call Number | AIT Caps Proj no.ME-14-10 |
| Subject(s) | Robots--Control systems Robots--Wheels |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering in Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-14-10 |
| Abstract | A Ballbot is a dynamically stable mobile robot, which is balancing on a single spherical wheel. This topic has been a research topic in many universities because of the large scope of usage it has. Since the robot will have only one contact point with the ground, it is omnidirectional and highly dynamic in moving around. This project have demonstrated the development of a ballbot with four omni directional wheels. The concept of a ballbot can be depicted as an inverted pendulum. The dynamical stability needed to be gain through continuous data acquisition of its orientation in 3D space. This project intend to achieve the static balancing through these techniques. As a further development the capabilities of the ballbot will be extended to planer motion as it drive to desired locations. This project will require intimately interconnected and explicable knowledge of mechatronics engineering. The concept of ballbot is simple, yet it requires knowledge in mechanical, electrical, control theory, programming and general physics. |
| Year | 2014 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-14-10 |
| Type | Capstone Project |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Somrak Petchartee; |
| Degree | Capstone Project (M.Eng.) - Asian Institute of Technology, 2014 |