Senior Design ProjectSenior Design Project

Autonomously Balancing RobotAutonomously Balancing Robot

Amir Ali Amir Ali

Jon AllenJon Allen

Sam ChenSam Chen

Pei-Lin HuangPei-Lin Huang

OutlineOutline

• BackgroundBackground

• Project specificationsProject specifications

• Preliminary designPreliminary design

• Proposed MDR prototype Proposed MDR prototype specificationsspecifications

BackgroundBackground

• Many real-world systems are Many real-world systems are inherently unstableinherently unstable

• Examples: Examples:

Background cont.Background cont.

• For a variety of reasons, we may For a variety of reasons, we may wish to stabilize such systemswish to stabilize such systems

• Stability Control is extremely Stability Control is extremely important!important!

Background cont.Background cont.

• Inverted Pendulum: Unstable SystemInverted Pendulum: Unstable System

• Simple model for many complex Simple model for many complex physical systemsphysical systems

Project SpecificationsProject Specifications

• We will construct a We will construct a cart with a free cart with a free moving inverted moving inverted pendulum with a pendulum with a single axis of single axis of rotation.rotation.

Project SpecificationsProject Specifications

• Our goal is to move Our goal is to move the cart from point the cart from point A to point B, while A to point B, while balancing the balancing the pendulumpendulum

Project SpecificationsProject Specifications

• The cart will have two modes of The cart will have two modes of operation: manual via remote operation: manual via remote control, and computer assisted.control, and computer assisted.

Project SpecificationsProject Specifications

• Manual modeManual mode

Project SpecificationsProject Specifications

• Computer Assisted ModeComputer Assisted Mode

Preliminary DesignPreliminary Design

Desirable Chassis, microcontroller, etcDesirable Chassis, microcontroller, etc ::

• DC MotorsDC Motors

• Minimum number of WheelsMinimum number of Wheels

• Size of ChassisSize of Chassis

• WheelsWheels

Preliminary DesignPreliminary Design

TJ ProTJ Pro

• TJ Pro comes as a complete kitTJ Pro comes as a complete kit

• MC68HC11 microcontrollerMC68HC11 microcontroller

• 32Kb of Ram32Kb of Ram

• I/O PinsI/O Pins

Preliminary DesignPreliminary Design

• HandyBoardHandyBoard

• MIT DesignMIT Design

• MC68HC11 microcontrollerMC68HC11 microcontroller

• 32 Kb of RAM32 Kb of RAM

• I/O PinsI/O Pins

Preliminary DesignPreliminary Design

Disregarded Choices:Disregarded Choices:

• Lego MindstormLego Mindstorm

• Stamp Stamp

Best Option:Best Option:

• TJ ProTJ Pro

Preliminary Design: Block Preliminary Design: Block DiagramDiagram

Sensors

Remote Controller(human)

Microcontroller Motor/ Wheel Pendulum

Cart

Preliminary Design: Physical Preliminary Design: Physical ModelingModeling M3

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Preliminary Design: Cart Preliminary Design: Cart Diff. Eq.1Diff. Eq.1

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Preliminary Design: Cart Preliminary Design: Cart Diff. Eq.2Diff. Eq.2

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Preliminary Design: Wheel Preliminary Design: Wheel Eq.Eq.

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Proposed MDR prototype Proposed MDR prototype specificationsspecifications

• Our goal is by the Our goal is by the end of the end of the semester is to semester is to complete the complete the manual mode.manual mode.

• Data Data

Action ItemsAction Items

• Purchase KitPurchase Kit

• Assemble cart with pendulum and Assemble cart with pendulum and sensorssensors

• Implement remote control interfaceImplement remote control interface