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!
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