Subject:
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Re: Balancing Bots
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 4 Jan 2000 23:16:55 GMT
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Viewed:
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778 times
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Dave Johnson wrote:
> Basically, it's a long (about 2 feet) beam construction, with the RCX on
> the top and 2 wheels on one axle at the bottom. I'm using a homebrew
> angle sensor (with an "outrigger") to detect the angle it makes with the
> floor, then a motor driving the wheels corrects to get it vertical again.
It's an inverted pendulum - right?
> First, has anyone done this king of thing before? The mechanics are
> relatively simple, and I think I have a pretty good handle on it, but the
> programming is a challenge: I'm walking a thin line between it being too
> reactive (vibrating constantly) and not reactive enough (if it waits
> until the off-angle is too large before correcting, it can't "catch up").
> Any ideas?
I made such a project at university, but it didn't involve LEGO. I was
working with a group and we tried different approaches. Our best
solution was a Fuzzy-PD controller. The differential angle part is
necessary or else you'll problably never make it stable.
Our project was a bit different, by the way, we had to stabilize the
inverted pendulum (like you have to), but we also had to position it on
a track and be able to send commands like go 10 cm left. This involves
measuring the position and speed, too.
How did you construct the angle sensor? It must be pretty accurate - a
standard LEGO rotation sensor is out of the question - the scale is to
coarse.
Jacob
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Message has 1 Reply:
 | | Re: Balancing Bots
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| Not if you scale it up(alot).The higher the gear ratio, the higher the virtual accuracy. I hope I said that right, it sorta doesn't sound right.. If this is wrong the plaese correct me. Andy (...) (25 years ago, 6-Jan-00, to lugnet.robotics)
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Message is in Reply To:
| | Balancing Bots
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| I'm working on a 'bot that will balance itself, and having pretty good success (it will keep itself up for 30 seconds or so on a good run, traveling around a bit, before it falls over). But I'd like to make it more stable, if possible, so that I (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
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