Airicist
3rd September 2013, 08:15
https://vimeo.com/73573390
Ball Balance Robot (derived by stepping motors and omni-directional wheels)
September 1, 2013
this balance robot hear uses a simplified kalman filter to fuse accelerometer and gyroscope data. then a digital state-feedback controller calculates proper speed of each motor (stepping motors) to keep the robot in balance and to move it as required.
the robot uses stepping motors instead of dc-geared motors so the mathematical model of conventional balance-robots is not valid hear. that's because the output torque of a stepping motor is not easily controllable as in dc motors. on the other hand the rotational speed or shaft position is precisely controllable in stepping motors.
Ball Balance Robot (derived by stepping motors and omni-directional wheels)
September 1, 2013
this balance robot hear uses a simplified kalman filter to fuse accelerometer and gyroscope data. then a digital state-feedback controller calculates proper speed of each motor (stepping motors) to keep the robot in balance and to move it as required.
the robot uses stepping motors instead of dc-geared motors so the mathematical model of conventional balance-robots is not valid hear. that's because the output torque of a stepping motor is not easily controllable as in dc motors. on the other hand the rotational speed or shaft position is precisely controllable in stepping motors.