 | | Balancing robots
|
|
How does a balancing robot like Legway balance on a patterned floor? Or can it? I've got some of the way there. My understanding from reading the web descriptions of various projects is that you _ought_ to measure - angle of tilt - rate of change (...) (21 years ago, 20-Jan-04, to lugnet.robotics)
|
| |
| | Re: Balancing robots
|
|
Hello PeterBalch, Tuesday, January 20, 2004, 9:19:20 PM, you wrote: P> How does a balancing robot like Legway balance on a patterned floor? Or can P> it? P> I've got some of the way there. P> My understanding from reading the web descriptions of (...) (21 years ago, 20-Jan-04, to lugnet.robotics)
|
| |
| | Re: Balancing robots
|
|
(...) Hi Allen, Could you post the actual code and perhaps a photograph of your robot, I want to try that for a while and it would eliminate some fiddling! TIA, Philo (21 years ago, 21-Jan-04, to lugnet.robotics)
|
| |
| | Re[2]: Balancing robots
|
|
Hello Philippe, (...) PH> Hi Allen, PH> Could you post the actual code and perhaps a photograph of your robot, I want to PH> try that for a while and it would eliminate some fiddling! PH> TIA, PH> Philo Hi, I'll try and find the code and grab a (...) (21 years ago, 21-Jan-04, to lugnet.robotics)
|
| |
| | Re: Re[2]: Balancing robots
|
|
(...) Thanks a lot ! I'm not in a hurry ;o) Philo (21 years ago, 22-Jan-04, to lugnet.robotics)
|
| |
| | Re: Balancing robots
|
|
(...) I don't think there's a good source for this data (motor back-emf) using an RCX. Yes, Legway just used the motor commands to simulate the wheel velocity. It would have greatly increased the complexity of the wheel assembly to add rotation (...) (21 years ago, 22-Jan-04, to lugnet.robotics)
|
| |
| | Re: Balancing robots
|
|
(...) Um, the back-EMF of the motore isn't related to the motor load per se but rather the relaxation of the current in the coil when it moves off the stators. It's also very fast (ie E=Bc) so the RCX isn't likely to get good readings for this. It's (...) (21 years ago, 22-Jan-04, to lugnet.robotics)
|
| |
| | Re: Balancing robots
|
|
Hi all We've just returned from holiday and our Lego is locked up for the summer but For what its worth I have added a version of my code to (URL) You can see what I did to mod Steve's program to work with two standard Lego light sensors. The output (...) (21 years ago, 26-Jan-04, to lugnet.robotics)
|
| |
| | Re: Re[2]: Balancing robots
|
|
(...) As I was stuck home yesterday by a sore throat, I had plenty of time to build a legway clone that works quite well using an adapted version of your generic code. I choose to ease the problem by lowering center of gravity (I put the bottom of (...) (21 years ago, 28-Jan-04, to lugnet.robotics)
|
