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Development of a ball balancing robot with omni wheels

Jonason Bjärenstam, Magnus and Lennartsson, Michael (2012) In ISSN 0280-5316
Department of Automatic Control
Abstract
The main goal for this master thesis project was to create a robot balancing on a ball with the help of omni wheels. The robot was developed from scratch. The work covered everything from mechanical design, dynamic modeling, control design, sensor fusion, identifying parameters by experimentation to implementation on a microcontroller. The robot has three omni wheels in a special configuration at the bottom. The task to stabilize the robot is based on the simplified model of controlling a spherical inverted pendulum in the xy-plane with state feedback control. The model has accelerations in the bottom in the x- and y-directions as inputs. The controlled outputs are the angle and angular velocity
around the x- and y-axes and the position... (More)
The main goal for this master thesis project was to create a robot balancing on a ball with the help of omni wheels. The robot was developed from scratch. The work covered everything from mechanical design, dynamic modeling, control design, sensor fusion, identifying parameters by experimentation to implementation on a microcontroller. The robot has three omni wheels in a special configuration at the bottom. The task to stabilize the robot is based on the simplified model of controlling a spherical inverted pendulum in the xy-plane with state feedback control. The model has accelerations in the bottom in the x- and y-directions as inputs. The controlled outputs are the angle and angular velocity
around the x- and y-axes and the position and speed along the same axes. The goal to stabilize the robot in an upright position and keep it located around the starting point was successfully achieved. (Less)
Please use this url to cite or link to this publication:
author
Jonason Bjärenstam, Magnus and Lennartsson, Michael
supervisor
organization
alternative title
Bollbalanserande robot med omnihjul
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
ISSN 0280-5316
other publication id
ISRN LUTFD2/TFRT--5897--SE
language
English
additional info
month=March
id
2856116
date added to LUP
2012-07-02 09:21:17
date last changed
2012-07-02 09:21:17
@misc{2856116,
  abstract     = {The main goal for this master thesis project was to create a robot balancing on a ball with the help of omni wheels. The robot was developed from scratch. The work covered everything from mechanical design, dynamic modeling, control design, sensor fusion, identifying parameters by experimentation to implementation on a microcontroller. The robot has three omni wheels in a special configuration at the bottom. The task to stabilize the robot is based on the simplified model of controlling a spherical inverted pendulum in the xy-plane with state feedback control. The model has accelerations in the bottom in the x- and y-directions as inputs. The controlled outputs are the angle and angular velocity
around the x- and y-axes and the position and speed along the same axes. The goal to stabilize the robot in an upright position and keep it located around the starting point was successfully achieved.},
  author       = {Jonason Bjärenstam, Magnus and Lennartsson, Michael},
  language     = {eng},
  note         = {Student Paper},
  series       = {ISSN 0280-5316},
  title        = {Development of a ball balancing robot with omni wheels},
  year         = {2012},
}