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Reaction wheel balanced robot: Design and sensor analysis of inverted pendulum robot
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2015 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Design och sensorutvärdering av inverterad pendel-robot (Swedish)
Abstract [en]

Some robots can do remarkable things. Balancing something unstable is one of them. This paper covers the design of such a robot and evaluates how the sensor is affected by its position and in turn the robot's ability to balance. A robot with a reaction wheel to maintain balance was built and the sensor data was investigated. From the result one could see that the sensor placement was of importance. The best placement was the one closest to the center of the cube, far away from the reaction wheel.

Abstract [sv]

En del robotar kan utföra förbluffande manövrar. Att balansera något instabilt är en av dem. Den här rapporten täcker konstruktionen av en sådan robot och undersöker hur sensorn påverkas av sin position och i sin tur hur balansförmågan påverkas av sensorn. En robot som använde ett svänghjul som hjälp för att balansera byggdes och sensordatan undersöktes. Från resultatet visades att sensorplaceringen var viktig. Den bästa placeringen var den närmast robotens centrum.

Place, publisher, year, edition, pages
2015.
Series
MMKB 2015:18 MDAB 071
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-184504OAI: oai:DiVA.org:kth-184504DiVA: diva2:916271
Supervisors
Examiners
Available from: 2016-04-08 Created: 2016-04-01 Last updated: 2016-04-08Bibliographically approved

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CiteExportLink to record
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