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Design and construction of control system for a ball-shaped robot
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The aim of this thesis work is to design and construct a control system for a ball-shaped robot, the Thistle, to meet the dened functional requirements. The control system, which includes two parts: hardware and software, realizes the planned architecture and performs required tasks. In the hardware part, two DC motors are applied as actuators. Additionally, various sensors including encoders, accelerometers, gyros which are used to detect the attitude of the robot and inner status of the robot are investigated carefully. One on board computer (Gumstix Overo Fire) is used as a controller to integrate the functions of actuators and sensors. Then wireless communication between operator and robot is established in order to send some simple test commands to the on board computer by WLAN to prove that every part could work and well coordinate with each other. In addition to this electronics work, mechanical work is also involved. Considering the frangibility of the on board computer, accuracy of the measurement from the sensors and the robustness of the whole system, the method to install components on the robot should be taken into account. In the software part, the development environment for cross complying is built based on OpenEmbedded. In robot, a simple embedded system based on the Gumstix COM is developed under Linux. As the controller of the robot, this on board computer is responsible for receiving data from sensors, send command to actuators and also communicate with the operator through WLAN.

Place, publisher, year, edition, pages
Keyword [en]
Technology, Ball-shaped robot, control system
Keyword [sv]
URN: urn:nbn:se:ltu:diva-58317ISRN: LTU-PB-EX--10/067--SELocal ID: ee618918-242f-44c6-b955-50a082e28082OAI: diva2:1031705
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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