Transcript Oscillation damping system for a ball

OSCILLATION DAMPING SYSTEM
FOR A BALL-SHAPED ROBOT
José Joaquín Alcaina Acosta
José Luis Racero Robles
GOAL OF THE PROJECT WORK
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Control an oscillation dampingsystem of a
spherical robot.
Control the ball measuring ins oscillation and
correcting it with the flywheel.
Control the excess of
speed and abrupt actions
for not returning the
system unstable.
STRUCTURE OF THE WORK
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Introduction about the history of the spherical
robot, a theoretical study about the dynamics of
the operation of the robot.
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Explanation about the mounting of the robot.
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Modeling of the behavior of our robot.
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Measurement, programming and correcting
problems.
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Testing.
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Conclusions
MAIN PARTS OF THE SYSTEM
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Sensors:
 Gyroscope: It will be used to calculate the
angular velocity of the roll angle of the ball.
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Accelerometer: It will be used to measure
the motor acceleration
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Encoder: Used to measure the rotational
speed of the motor.
MAIN PARTS OF THE SYSTEM
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Processor & Software: Teensy++, based in
Arduino Software..
Electronics Board: It integrates H-Bridge.
Teensy, sensors and motor will be connected in it.
Power supply: Cells or batteries.
Motor: DC Motor with a nominal voltage between
12V-15V.
TIME AND TEAMWORK MANAGEMENT
THANKS FOR READING!