• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Conference on Artificial Intelligence and Robotics;Asia-Pacific International Symposium >Design and Implementation of the Mechanical System of a Six Motor Ball-Balancing Robot (BBRs)
【24h】

Design and Implementation of the Mechanical System of a Six Motor Ball-Balancing Robot (BBRs)

机译：六电机平衡球机器人（BBR）机械系统的设计与实现

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Main purpose of this article is design and equilibrium mechanical parts of a Ball-balancing robot with six motors. Mechanical design of the robot has a great important in robot statically and dynamically balance. Dynamic modeling, designing the controller, sensors fusion, identifying the parameters are some of the aspects of this robot design. Control of the robot is similar to reverse pendulum of an airplane at XY axis with feedback control which finally results in dynamic balance of the robot. Inputs if the controller of the robot are acceleration across X and Y axis and the outputs are angle and angular velocity and also current position and velocity across X and Y axis. The goal is stabilizing and balance robot at a place which is done successfully. Reverse pendulum has eight states, states of angles, angular velocity, position, and linear velocity (all across X and Y axis). Angles are result of a filter that combines gyroscope and accelerometer from reading of the encoders of motors and a monolithic reverse kinematic is used to calculate the position. In a configuration the Ball and the static weight placed on top of it forms a symmetric reverse pendulum. Inertial measurement unit measures the tilt of the robot and sends it to a microcontroller and then to a control algorithm to determine the amount of speed required for every motor to stabilize the robot.
机译：本文的主要目的是设计和平衡具有六个电机的Ball平衡机器人的机械零件。机器人的机械设计对于机器人的静态和动态平衡至关重要。动态建模，设计控制器，传感器融合，识别参数是该机器人设计的一些方面。机器人的控制类似于带有反馈控制的飞机在XY轴上的倒摆，最终实现了机器人的动态平衡。如果机器人的控制器是X和Y轴上的加速度，则输入，而输出是角度和角速度，以及X和Y轴上的当前位置和速度。目标是在成功完成的地方稳定和平衡机器人。反向摆具有八个状态，即角度，角速度，位置和线速度的状态（均在X和Y轴上）。角度是滤波器的结果，该滤波器结合了陀螺仪和加速度计，这些读数来自于电机编码器的读数，并且使用整体式反向运动学来计算位置。在一种配置中，球和放置在球顶部的静态重物形成对称的反向摆。惯性测量单元测量机器人的倾斜度，并将其发送到微控制器，然后发送到控制算法，以确定每个电机稳定机器人所需的速度。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号