Design, construction and control of a spherical rolling robot with internal two-wheel cart
Journal Title: Automatyka - Year 2015, Vol 19, Issue 2
Abstract
This elaboration presents a spherical rolling robot with a 2-wheel cart. The custom design of the hardware and control software is presented to demonstrate the solution. The robot was started to realize an autonomous task. The embedded robot control system is based on a 32-bit microcontroller and uses a Bluetooth module for wireless communication. The simplified model has been proposed and its parameters identified. The results obtained at the simulation and experimental stages are shown and compared. Finally, the robot’s motion was recorded and analyzed with the support of image signal processing techniques.
Authors and Affiliations
Szymon Firlej
Keywords
Related Articles
- EP ID EP325645
- DOI 10.7494/automat.2015.19.2.63
- Views 63
- Downloads 0
Modelling of Unmanned Aerial Vehicle – Tricopter
This paper presents detailed models of small aerial unmanned vehicle’s subsystems like propeller, BLDC motor or Li–poly battery. Furthermore, more accurate dynamic model of Tricopter is described. This, multi–system mode...
Supervising control system for oriented PV using weather forecasts
This paper is devoted to the problem of controlling an oriented PV using weather forecasts. The described solution presents the use of fuzzy logic fundamentals in order to increase the efficiency of a PV system. It differ...
A sufficient condition for existence of constantly nondominated trajectories in linear time-invariant systems
This paper considers the multi-criteria optimal control problem in linear time-invariant systems with a single bounded input. It has been proven that, under certain assumptions, a state trajectory is non-dominated throug...
Analytic method grafpol TM of synthesing sequential control systems
This paper presents the Grafpol TM method and principles of synthesising sequential control algorithms by this method, as well as examples of applying this method for modelling processes and programming PLC controllers.
On D-decomposition of periodically sampled systems
The problem of the stability of non-uniformly sampled systems is considered. For this purpose, the D-decomposition method for determining the stability region in parameter space is investigated. Moreover, basic informati...