 | | Re: Balancing Bots —Jacob Schultz
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| | | (...) It's an inverted pendulum - right? (...) 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 (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
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| | | | | Re: Balancing Bots —Andy Gombos
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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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| | | | | | Re: Balancing Bots —Jacob Schultz
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| | | | (...) Of course you are right, but there are some problems: It depends on the quality of the gearing. The problem here is backlash - it doesn't help much to have 1/10 deg. resolution if you have 5 deg. backlash in the gearing. Another problem is (...) (25 years ago, 6-Jan-00, to lugnet.robotics)
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| | | | | | RE: Balancing Bots —Carl Schaefer
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| | | | Jacob, Off-topic, I know, but .... I believe that the equations that you provided, although for a frictionless inverted pendulum, are nonlinear. You can linearize these equations about some reference point and convert them to state-space form, which (...) (25 years ago, 7-Jan-00, to lugnet.robotics)
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