Title :
Implementation of AU balancing ballbot (AUB3
Author :
Aphiratsakun, Narong ; Remi Nordeng, Per Kristian ; Suikkanen, Marko ; Lorpatanakasem, Nuttawadee
Author_Institution :
Fac. of Mechatron. Eng., Assumption Univ., Bangkok, Thailand
Abstract :
This paper discusses on the AU Balancing BallBot or known as AUB3. AUB3 in a structure of robot is using three Omni wheels, which drive by stepper motors. Accelerometer and Gyroscope are used as main sensors. PIC24FJ48GA002 is used as a main controller. An intelligent complimentary filter with PD control algorithm is used to control AUB3 to be in balanced position. The controller is proven on the prototype of AUB3. AUB3 obtains it stability on the ball without falling off.
Keywords :
PD control; accelerometers; filters; gyroscopes; mobile robots; sensors; stability; stepping motors; wheels; AU balancing ballbot; AUB3; PD control algorithm; PIC24FJ48GA002; accelerometer; gyroscope; intelligent complimentary filter; omniwheel; sensor; stepper motor; Acceleration; Accelerometers; Delays; Gyroscopes; Mobile robots; Sensors; Balancing Control; Complimentary Filters; Intelligent Control; Proportional-Derivative (PD) Control;
Conference_Titel :
Electrical Engineering Congress (iEECON), 2014 International
DOI :
10.1109/iEECON.2014.7088530
