OSCILLATION DAMPING SYSTEM FOR A BALL-SHAPED ROBOT

José Joaquín Alcaina Acosta

José Luis Racero Robles

GOAL OF THE PROJECT WORK

Control an oscillation dampingsystem of a spherical robot.

Control the ball measuring ins oscillation and correcting it with the flywheel.

Control the excess of speed and abrupt actions for not returning the system unstable.

STRUCTURE OF THE WORK

Introduction about the history of the spherical robot, a theoretical study about the dynamics of the operation of the robot.

Explanation about the mounting of the robot.

Modeling of the behavior of our robot. Measurement, programming and correcting

problems.

Testing.

Conclusions

MAIN PARTS OF THE SYSTEM

Sensors: Gyroscope: It will be used to calculate the

angular velocity of the roll angle of the ball.

Accelerometer: It will be used to measure the motor acceleration

Encoder: Used to measure the rotational speed of the motor.

MAIN PARTS OF THE SYSTEM

Processor & Software: Teensy++, based in Arduino Software..

Electronics Board: It integrates H-Bridge. Teensy, sensors and motor will be connected in it.

Power supply: Cells or batteries.

Motor: DC Motor with a nominal voltage between 12V-15V.

TIME AND TEAMWORK MANAGEMENT

THANKS FOR READING!