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Self-Balancing Robot

Product catalog summary

Overview
The document discusses a self-balancing robot, which is a movable 3 Degree of Freedom (Dof) inverted pendulum system. This system is used to explore various control theories such as controllability, stability, and robustness. The robot maintains balance by adjusting the torque on its two wheels using feedback from a gyroscope.

System Characteristics

More degrees of freedom compared to linear and planar inverted pendulums.
Utilizes real-time workspace in MATLAB.
Embedded PC104 system with a Windows operating system.
Allows online editing and modification of control algorithms.
Supports various extension interfaces for additional sensors, such as vision.
Provides MATLAB functions for system control.

System Model
The document includes a mathematical model of the system, detailing the relationships between robot position, tilting angle, yaw angle, and motor torque.

Reference Experiments

Gyro application and experiments.
System modeling.
Open loop system analysis.
PID controller design.
Pole placement controller design.
LQR controller design.
User-defined controller design.

Specifications

Dimensions: 260mm x 450mm x 730mm.
DC Servo Power: 85W with a gear ratio of 8:1.
Motion Controller: DSP and FPGA based embedded controller with PC104 Bus and 3 Axes Motion Controller.
Software Environment: WIN98/MATLAB6.5.
Maximum Speed: 1.6m/s.
Power: NiMH Battery 8.5Ah (24V) with a duration of over 1.5 hours.
Maximum Ramp Angle: 20 degrees.
Gyro Specifications: Power 9~12V, AD/DA resolution 12 bits, current 30mA, maximum angular velocity ±300deg/sec at 25˚C, range 360˚ at 25˚C, sampling frequency 150Hz, temperature bias ±0.025%/˚C, operating temperature -40~50˚C, analog output (0~4.096V), repeatability 0.10˚, weight 20g.

Ordering Guide

Model Number: GBOT1001 - Self-Balancing Robot.
ABOT-MB-1001: Self-Balancing Robot Main Body.
ABOT-CS-1001: Self-Balancing Robot Software.
S-UP-MAT: GoogolTech’s Simulink Toolbox.

Catalog excerpts

Googol Technology Control & network factories of the future Self-Balancing Robot Overview An inverted pendulum system is a highly coupled multivariable, nonlinear, unstable system. It is the perfect experimental device to examine various control theories. Controllability, stability, robustness and some other key performance in control will be examined in the process of controlling such system. The self-balancing robot is in fact a movable 3 Dof inverted pendulum system. The system, taking the gyro as feedback, is balanced by outputting different torque in two wheels. More degree of freedom compare to linear and planar inverted pendulum Using real-time workspace in MATLAB. Embedded PC104 system with windows operating system Online editing and modifying the control algorithm. Various extension interface for add-on sensors, e.g. vision Providing MATLAB functions Robot Position Robot Tilting angle Reference Experiments System Diagram Gyro application and experiments. System Modeling Open Loop System Analysis PID Controlle

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Googol Technology Control & network factories of the future Plant diagram MATLAB Interface

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