Usage of the LEGO Mindstorms EV3 Robot - Design and Realization of the "Ball-riding robot" for the Promotion of the Faculty
Využití robota LEGO Mindstorms EV3 - návrh a realizace robota "Ball-riding robot" pro propagační účely fakulty
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České vysoké učení technické v Praze
Czech Technical University in Prague
Czech Technical University in Prague
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Tato bakalářská práce prezentuje metody pro modelování a ovládání pohybu Ball-riding robotu. K sestavení robotu je použita LEGO Mindstorm EV3 stavebnice. Robot je poháněn třemi všesměrovými koly a jakožto koule k balancování slouží bowlingová koule. Lagrangeovská mechanika je použita k získání dynamického modelu robotu, pohybujícího se na ploché rovině. K dosažení stabilizace v rovnovážném bodě a v celkovém pohybu, LQR regulátor je vytvořen a vyladěn.
This thesis presents methodologies for modeling and motion control of a Ball-riding robot (further BRB). The LEGO Mindstorm EV3 building kit is used to create this robot, which is driven by three omnidirectional wheels (further omni-wheels) with a bowling ball serving as a balancing ball. Lagrangian mechanics is used to derive a dynamic model of the robot moving on a flat plane. To achieve stabilization in both the equilibrium point and general motion control, an LQR controller is developed and tuned.
This thesis presents methodologies for modeling and motion control of a Ball-riding robot (further BRB). The LEGO Mindstorm EV3 building kit is used to create this robot, which is driven by three omnidirectional wheels (further omni-wheels) with a bowling ball serving as a balancing ball. Lagrangian mechanics is used to derive a dynamic model of the robot moving on a flat plane. To achieve stabilization in both the equilibrium point and general motion control, an LQR controller is developed and tuned.