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Development of a self-balancing two wheeled robot
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
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2012 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Utveckling av en självbalanserande tvåhjulig robot (Swedish)
Abstract [sv]

Denna rapport beskriver och förklarar processen för att utforma och konstruera en parallell

tvåhjulig robot, lik en Segway, med syfte att tävla mot andra liknande konstruktioner i en

tävling. Roboten är konstruerad kring den inverterade pendelns princip och eftersom den är

instabil har den aktivt balanserats. En accelerometer och ett gyro har tillsammans med ett

Kalmanfiler använts för att bestämma robotens vinkel mot tyngdaccelerationen. När

tyngdpunkten flyttas, ger det återkopplade systemet en rörelse i motsatt riktning för att

säkerställa balansen. Små korrigeringar är alltid nödvändiga för en stabil position, och dessa har

implementerats i en PID-regulator.

Flera delsystem har utvecklats och integrerats för att tillgodose behoven för att kunna medverka i

tävlingen, såsom en mållinjesensor, ett vapensystem, ett par kodgivare, en set med utfällbara

ben, en fjärrkontroll och en text-till-tal-modul. Alla delsystem förutom de utfällbara benen

integrerades i den slutliga prototypen. Vid rapportens sammanställande kvarstod endast

tävlingsmomentet.

Abstract [en]

This paper presents and explains the process of designing and constructing a parallel two

wheeled balancing robot, much like a Segway, with the purpose of competing against other

similar designs in a race. The robot is designed around the principal of an inverse pendulum, and

because it is always unstable it has to be actively balanced to be able to stand up. An

accelerometer and a gyro together with a Kalman filter are used to determine the angle of the

robot. When the center of mass starts to tip over, the feedback system moves the robot in the

same direction to keep its balance. Small corrections are always needed to be able to stand

straight, which has been implemented in the form of a PID-controller.

Several subsystems have also been developed or integrated to accommodate the needs to

successfully participate in the race, such as a finish line sensor, a weapon system, a pair of

encoders, a set of unfolding legs, a remote controller and a text-to-speech module. All

subsystems except the unfolding legs were successfully integrated into the finished prototype,

but upon completion of this report the finished robot has yet to participate in the competition.

Place, publisher, year, edition, pages
2012.
Series
MMKB 2012:24 MDAB 027
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-102054OAI: oai:DiVA.org:kth-102054DiVA: diva2:550532
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-09-07 Created: 2012-09-07 Last updated: 2012-09-07Bibliographically approved

Open Access in DiVA

MMKB 2012:24 MDAB 027(8550 kB)545 downloads
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