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04-09-2009 18:07 |
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Other balancers |
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nBot |
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uBot |
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Robots
- Two wheeler - Introduction
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Originally
inspired by David.P.Anderson's
nBot and the
university of Massachusetts inverted pendulum robot
uBot here's my shot at a two wheel balancing robot.
I realised, from the
beginning, that this wasn't going to be an easy project so I
decided to divide the task in steps.
Mechanical platform
& motors
Motordrivers
PIC-based
controllerboard
Inertial
measurements unit
Code, code,
code
Sensors
More code
Since I
already had a suitable platform to use as testbed I
decided to use that to begin with.
The problem was
that I didn't have any wheels for it. So back to the drawingboard.
Making
the wheels.
Pole balancing
Get rid of those
support "wheels"
Rebuliding the base.
Motorcontroller
Cheating a bit
(using SHARP sensors)
<NEXT>
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Copyright 2006 Henrik Olsson. All Rights Reserved.
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