Development of a ball balancing robots (BB8 Droid) | |
| Author | Myo Thant Ko Ko |
| Call Number | AIT Caps. Proj. no.ME-17-10 |
| Subject(s) | PID controllers Robots--Kinematics Robotics |
| 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-17-10 |
| Abstract | This paper proposes the implementation and control plan of a robot adjusted on a ball. Dis- similar to a two-wheeled reversed pendulum, for example, the Segway Human Transporter, a transformed pendulum utilizing a ball moves toward any path without modifying orientation, allowing isotropic development and stabilization. The robot on the ball can be utilized as a part of place of the two-wheeled robots. In this project, the robot has four omnidirectional wheels with gear motors that drive the ball and use accelerometers and gyroscopes as attitude sensors. It can keep station, navigate toward any path, and pivot its vertical axis. Modified pendulum control is connected to two axis to be able to maintain the attitude. The accelera- tion of the ball is utilized as control contribution of the framework, not at all like the greater part of inverted pendulums which utilize torque or force as the input. This speeding up info rolls out the robot hearty against improvement of latency parameters, as affirmed by Nyquist charts. The component of the robot, the control strategy and the trial results are described in this research project. |
| Year | 2017 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-17-10 |
| 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) | Bohez, Erik L. J.;Than Lin; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2017 |