Full metadata
Title
Modeling, Analysis, and Design of an Omni-Directional Ball-Balancing Robot
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.
Date Created
2019-05
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)
Resource Type
Extent
33 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Series
Academic Year 2018-2019
Handle
https://hdl.handle.net/2286/R.I.53073
Level of coding
minimal
Cataloging Standards
System Created
- 2019-04-25 12:00:59
System Modified
- 2021-08-11 04:09:57
- 3 years 3 months ago
Additional Formats