Description
The focus of this project investigates high mobility robotics by developing a fully integrated framework for a ball-balancing robot. Using Lagrangian mechanics, a model for the robot was derived and used to conduct trade studies on significant system parameters. With a broad understanding of system dynamics, controllers were designed using LQR methodology. A prototype was then built and tested to exhibit desired reference command following and disturbance attenuation.
Details
Title
- Modeling, Analysis, and Design of an Omni-Directional Ball-Balancing Robot
Contributors
- Kapron, Mark Andrew (Author)
- Rodriguez, Armando (Thesis director)
- Artemiadis, Panagiotis (Committee member)
- Industrial, Systems & Operations Engineering Prgm (Contributor)
- Electrical Engineering Program (Contributor, Contributor)
- Barrett, The Honors College (Contributor)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2019-05
Resource Type
Collections this item is in