senior design project autonomously balancing robot amir ali jon allen sam chen pei-lin huang
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Senior Design ProjectSenior Design Project
Autonomously Balancing RobotAutonomously Balancing Robot
Amir Ali Amir Ali
Jon AllenJon Allen
Sam ChenSam Chen
Pei-Lin HuangPei-Lin Huang
OutlineOutline
• BackgroundBackground
• Project specificationsProject specifications
• Preliminary designPreliminary design
• Proposed MDR prototype Proposed MDR prototype specificationsspecifications
BackgroundBackground
• Many real-world systems are Many real-world systems are inherently unstableinherently unstable
• Examples: Examples:
Background cont.Background cont.
• For a variety of reasons, we may For a variety of reasons, we may wish to stabilize such systemswish to stabilize such systems
• Stability Control is extremely Stability Control is extremely important!important!
Background cont.Background cont.
• Inverted Pendulum: Unstable SystemInverted Pendulum: Unstable System
• Simple model for many complex Simple model for many complex physical systemsphysical systems
Project SpecificationsProject Specifications
• We will construct a We will construct a cart with a free cart with a free moving inverted moving inverted pendulum with a pendulum with a single axis of single axis of rotation.rotation.
Project SpecificationsProject Specifications
• Our goal is to move Our goal is to move the cart from point the cart from point A to point B, while A to point B, while balancing the balancing the pendulumpendulum
Project SpecificationsProject Specifications
• The cart will have two modes of The cart will have two modes of operation: manual via remote operation: manual via remote control, and computer assisted.control, and computer assisted.
Project SpecificationsProject Specifications
• Manual modeManual mode
Project SpecificationsProject Specifications
• Computer Assisted ModeComputer Assisted Mode
Preliminary DesignPreliminary Design
Desirable Chassis, microcontroller, etcDesirable Chassis, microcontroller, etc ::
• DC MotorsDC Motors
• Minimum number of WheelsMinimum number of Wheels
• Size of ChassisSize of Chassis
• WheelsWheels
Preliminary DesignPreliminary Design
TJ ProTJ Pro
• TJ Pro comes as a complete kitTJ Pro comes as a complete kit
• MC68HC11 microcontrollerMC68HC11 microcontroller
• 32Kb of Ram32Kb of Ram
• I/O PinsI/O Pins
Preliminary DesignPreliminary Design
• HandyBoardHandyBoard
• MIT DesignMIT Design
• MC68HC11 microcontrollerMC68HC11 microcontroller
• 32 Kb of RAM32 Kb of RAM
• I/O PinsI/O Pins
Preliminary DesignPreliminary Design
Disregarded Choices:Disregarded Choices:
• Lego MindstormLego Mindstorm
• Stamp Stamp
Best Option:Best Option:
• TJ ProTJ Pro
Preliminary Design: Block Preliminary Design: Block DiagramDiagram
Sensors
Remote Controller(human)
Microcontroller Motor/ Wheel Pendulum
Cart
Preliminary Design: Physical Preliminary Design: Physical ModelingModeling M3
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Preliminary Design: Cart Preliminary Design: Cart Diff. Eq.1Diff. Eq.1
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Preliminary Design: Cart Preliminary Design: Cart Diff. Eq.2Diff. Eq.2
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Preliminary Design: Wheel Preliminary Design: Wheel Eq.Eq.
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Proposed MDR prototype Proposed MDR prototype specificationsspecifications
• Our goal is by the Our goal is by the end of the end of the semester is to semester is to complete the complete the manual mode.manual mode.
• Data Data
Action ItemsAction Items
• Purchase KitPurchase Kit
• Assemble cart with pendulum and Assemble cart with pendulum and sensorssensors
• Implement remote control interfaceImplement remote control interface