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Remote-Controlled Balancing Robot

Remote-Controlled Balancing Robot. Raymond Engle Stanley Hanke. Overview. We will be developing a remote-controlled, self-balancing robot Wireless communications will be managed by the eBox Motor controls will be managed by the mbed with an H-bridge. Design Strategy.

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Remote-Controlled Balancing Robot

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  1. Remote-Controlled Balancing Robot Raymond Engle Stanley Hanke

  2. Overview • We will be developing a remote-controlled, self-balancing robot • Wireless communications will be managed by the eBox • Motor controls will be managed by the mbed with an H-bridge

  3. Design Strategy Desktop computer will run a GUI program to connect to the eBox wirelessly eBox will pass operator commands to the mbed via RS-232 serial

  4. Controls Linear shaft encoder and gyroscope is used to provide feedback to the mbed Mbed microcontroller will use state-space integral control to determine corrective course of action

  5. Communications • Commands received by the eBox are forwarded to the mbed for execution GUI interface running on a PC sends data packets containing commands over wifi to the eBox

  6. Materials • Mbed microcontroller • eBox x86 embedded PC • Sparkfun breakout boards: • RS-232 Serial • Gyroscope • H-bridge • 2x Phidgets DC motors • Lead-Acid Battery • Chassis • Wireless Router • Duct tape

  7. Expected Challenges Due to complexities of timing with the state-space controller, we are unsure whether the mbed has sufficient real-time requirements Because of our unfamiliarity with networking in Windows CE, we are concerned that we will have difficulty establishing communications between the desktop and the eBox

  8. Gantt Chart

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