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
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- EP ID EP325645
- DOI 10.7494/automat.2015.19.2.63
- Views 65
- Downloads 0
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