Diseño, implementación y control de un prototipo de robot autoestable BallBot de tres ruedas omnidireccionales
[EN] The work aims to develop a prototype of the well-known BallBot. It is a self-stabilizing robot that maintains balance on a ball. The robot is equipped with three omnidirectional wheels that allow it to rotate the ball to both maintain balance and move along the X and Y axes, as well as rotate a...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/210429 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/210429 |
| Access Level: | acceso abierto |
| Palabra clave: | Simscape Multibody Arduino BallBot Vehículo omnidireccional Acelerómetro Accelerometer INGENIERIA DE SISTEMAS Y AUTOMATICA Máster Universitario en Ingeniería Mecatrónica-Màster Universitari en Enginyeria Mecatrònica |
| Sumario: | [EN] The work aims to develop a prototype of the well-known BallBot. It is a self-stabilizing robot that maintains balance on a ball. The robot is equipped with three omnidirectional wheels that allow it to rotate the ball to both maintain balance and move along the X and Y axes, as well as rotate around its vertical axis. Therefore, it is a robot with three degrees of freedom with the added difficulty of being unstable. It is a prototype of a high degree of difficulty, precisely due to its unstable nature. Essentially, it is similar to a two-degree-of-freedom inverted pendulum, with the ability to move in the XY plane. In the first part of the work, a realistic simulation model will be developed using the Simscape Multibody library of Matlab/Simulink. The simulation model will be used to better understand the operation of the robot and the experimental adjustment of the control parameters. The simulation model will include both stability control and trajectory control in the XY plane. In the second part, the real prototype will be implemented, using Arduino as the control device. A two-axis accelerometer provides information about the angular position of the robot's body, necessary for stability control. Trajectory control will be performed manually, using an Android application as the command interface. |
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