Development of a dynamically-balanced robot on a sphere | |
| Author | Udgeethi, Daluwathu M.G.K.P. |
| Call Number | AIT Caps. Proj. no.ME-16-23 |
| Subject(s) | Balancing of machinery Robots--Control systems PID controllers--Mathematics |
| Note | A capstone project 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-16-23 |
| Abstract | A ballbot which is inherently an unstable system, is a dynamically stable omnidirectional mobile robot capable of maneuvering in any direction while balancing itself on a sphere. This remarkably agile ballbot has only a single point of contact between itself and the ground. It is an omnidirectional robot which can be moved in any direction instantaneously, providing rich manoeuvrability. Dynamically balancing robots are an intensively growing field of research due to its wide range of applications. This project aims on developing a ballbot which is able to dynamically balance, with no navigation control implemented due to the limited time. The developed ballbot uses a four omniwheel drive mechanism, and is built upon the PID control algorithm. Furthermore, the Kalman filter has been implemented in the project to fuse the raw sensor readings from the accelerometer and the gyroscope, thus obtain accurate tilt angle measurements. |
| Year | 2016 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-16-23 |
| Type | Capstone Project |
| 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 Ekpanyapon ;Abeykoon, Harsha; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2016 |