Development of a ball balancing wheelchair | |
| Author | Silva, Karunanayaka Sahan Nimesh |
| Call Number | AIT Caps. Proj. no.ME-18-45 |
| Subject(s) | Balancing of machinery--Automation Wheelchairs PID controllers |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-18-45 |
| Abstract | A very common tool used in modem day control and automation engineering is Proportional Intergral Derivative (PID) controller due to its simplicity and the ease of application. This project revolves around using the PID controller to control the change in angle of the robot to maintain a stable position on a ball. This project very commonly known as the ballbot or spherebot and has many designs used in the past. The main purpose of this project is to take the core concept of the ballbot or spherebot and implement it into real world applications and create an applicable ballbot using the PID controller to balance the system. This was achieved by learning and obtaining information the sensors and controlling the actuator to produce and output based on the changing sensor inputs. There are many models for the ballbot that can be used and for this I have used a four wheel, symmetrical system along with a 6-axis IMU for balancing this system. In this report I have provided an in-depth description of how this project was made functional as well as how the objectives behind this project were achieved. |
| Year | 2018 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-18-45 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Other Field of Studies (No Department) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Song, Weon Keun;Abeykoon, Harsha |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2018 |