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Konstruktion av en självbalanserande inverterad pendel-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 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Design and implementation of a self-balancing inverted pendulum robot (English)
Abstract [sv]

Som en del av kandidatexamensarbetet i mekatronik har ett projekt med syfte att utveckla och tillverka en självbalanserad robot genomförts. Projektet löpte under perioden 28/03/2012 -15/05/2012 och utfördes av fem teknologer på Kungliga Tekniska Högskolan, Stockholm. Tidigare under kandidatexamensarbetet fördjupade sig samtliga gruppmedlemmar i varsitt mekatroniskt område: töjningsgivare, accelerometer, MP3, likströmsmotor och RFID. I detta projekt ingick följande delsystem: Gyro- och accelerometer, Bluetooth, likströmsmotor, fotoresistor, rotationsenkoder, motorstyrning i form av h-bryggor, Logiken behandlades av en mikroprocessor av modell Atmega16 från tillverkaren Atmel. Den färdiga produkten har tagits fram utifrån egenskaperna att ha två hjul i bredd, likt en Segway, med en kropp som går upp dem emellan. Den aktiva balanseringen styrs av en mikroprocessor som matas med en vinkel ortogonal mot horisontalplanet. En vinkel framställs med hjälp av en gyrometer och en accelerometer.

Abstract [en]

As part of a Degree Project in mechatronics a self-balanced robot was developed and manufactured. The project ran for the period 28.03.2012 - 05.15.2012 and was performed by five students at the Royal Institute of Technology, Stockholm. The project includes the following subsystems: gyro- and accelerometer, Bluetooth communication, DC motors, phototransistor, encoders and motor control using H-bridges. The finished product has been developed based on properties of having two wheels side by side, like a Segway, with a body that goes in between them. The active balancing was controlled by a microprocessor fed by an angle orthogonal to the ground plane. The angle was calculated using the Kalman filter algorithm.

Place, publisher, year, edition, pages
2012.
Series
MMKB 2012:30 MDAB 033
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-184182OAI: oai:DiVA.org:kth-184182DiVA: diva2:915472
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Examiners
Available from: 2016-04-11 Created: 2016-03-30 Last updated: 2016-04-11Bibliographically approved

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CiteExportLink to record
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