https://github.com/adamgarcia4/162e-project

State-Space Controls System for 2D inverted pendulum "Ballbot".
https://github.com/adamgarcia4/162e-project

ballbot robotics

Last synced: about 1 month ago
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State-Space Controls System for 2D inverted pendulum "Ballbot".

• Host: GitHub
• URL: https://github.com/adamgarcia4/162e-project
• Owner: adamgarcia4
• Created: 2017-04-29T01:04:04.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2017-08-09T01:29:12.000Z (over 7 years ago)
• Last Synced: 2024-11-02T11:24:11.214Z (3 months ago)
• Topics: ballbot, robotics
• Language: Arduino
• Homepage: https://www.youtube.com/watch?v=d8zjwEvJ8Qc
• Size: 20.5 KB
• Stars: 1
• Watchers: 3
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# 162E-Project

This repo contains the control system that was designed to stabilize our Senior Design Project, the Ballbot.  The Ballbot is a prototype for a novel transportation device - one that allows for omnidirectional motion of the platform by balancing on top of a ball.

The controls system accomplishes stability by simultaneously performing two PID control loops on different cross-sections of the robot.

The final design presentation which details the mechanical design as well as the controls design can be found [here](https://docs.google.com/presentation/d/1rGaBcjbj_4yFR1LjDntW5_rW1smjcrAp5dtDtqUXwmU/edit?usp=sharing).

A video of the ballbot in action can be found [here](https://www.youtube.com/watch?v=d8zjwEvJ8Qc).

This code is free for use.  Modify how you see fit.  As always, if there are any questions, please contact me and I will be happy to share further information.