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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

Remote-Controlled Balancing Robot

Raymond Engle

Stanley Hanke

overview
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
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

controls
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

communications
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

materials
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
expected challenges
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