• DocumentCode
    3586413
  • 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
  • fYear
    2014
  • Firstpage
    1
  • Lastpage
    4
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Electrical Engineering Congress (iEECON), 2014 International
  • Type

    conf

  • DOI
    10.1109/iEECON.2014.7088530
  • Filename
    7088530
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3586413