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Oscillation damping system for a ball-shaped robot

Oscillation damping system for a ball-shaped robot. José Joaquín Alcaina Acosta José Luis Racero Robles. Goal of the project work. Control an oscillation dampingsystem of a spherical robot. Control the ball measuring ins oscillation and correcting it with the flywheel .

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Oscillation damping system for a ball-shaped robot

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  1. Oscillation damping system for a ball-shaped robot José Joaquín Alcaina Acosta José Luis Racero Robles

  2. Goal of theprojectwork • Control an oscillation dampingsystem of a spherical robot. • Control theballmeasuringinsoscillation and correctingitwiththeflywheel. • Control theexcess of speed and abruptactions fornotreturningthe systemunstable.

  3. Structure of thework • Introduction about the history of the spherical robot, a theoretical study about the dynamics of the operation of the robot. • Explanation about the mounting of the robot. • Modeling of the behavior of our robot. • Measurement, programming and correcting problems. • Testing. • Conclusions

  4. Mainparts of thesystem • Sensors: • Gyroscope: It will be used to calculate the angular velocity of the roll angle of the ball. • Accelerometer: It will be used to measure the motor acceleration • Encoder: Used to measure the rotational speed of the motor.

  5. Mainparts of thesystem • Processor & Software: Teensy++, based in Arduino Software.. • Electronics Board: It integrates H-Bridge. Teensy, sensors and motor will be connected in it. • Power supply:Cells or batteries. • Motor: DC Motor with a nominal voltage between 12V-15V.

  6. Time and teamwork management

  7. THANKS FOR READING!

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