Jason Crim Vikas Kedigehalli Chinnappa Pattada.
15
ECE.4180 Final Design Jason Crim Vikas Kedigehalli Chinnappa Pattada Two Wheeled Dynamically Balancing Robot
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Transcript of Jason Crim Vikas Kedigehalli Chinnappa Pattada.
ECE.4180Final Design
Jason CrimVikas Kedigehalli
Chinnappa Pattada
Two Wheeled Dynamically Balancing Robot
Existing designs
11/9/10
Our Design
Drive the robot wheels in the direction that the upper part of the robot is falling.
If the wheels are driven in such a way that they stay under the robot’s center of gravity , the robot remains balanced.
This requires two feedback sensors -> Tilt or angle sensor : To measure the tilt
of the robot with respect to gravity
-> Wheel Encoders : To measure the position of the
base of the robot.
Working Principle
System flowchart
Initial Algorithm
11/9/10
Modified Algorithm
11/9/10
Practical Challenges Faced
Components
Low power, 3-axis accelerometer with high resolution (13-bit) measurement
ADXL-345
Triple-axis, digital output gyroscope
ITG-3200
Accelerometer Gyroscope
Components
DC Gearhead Robot Motor
7.2V motor with 7.2Kg-cm of torque, 160 rpm no load speed, a 6mm drive shaft, and built in quadrature encoder
VNH2SP30 Motor Driver Carrier MD01B
Compact motor driver with current sensing and high PWM frequency (20 Khz) supplies current of upto 30A
DC Motor Motor Driver
Components
mbed NXP LPC1768
Microcontroller with ARM based Cortex-M3 core, running at 96MHz, with 512KB FLASH, 64KB RAM
MBED
Tasks and Schedule
11/9/10
Questions
11/9/10
Thank YouECE4180 was Great Fun!!!
