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Self-Balancing Robot

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Self-Balancing Robot

An inverted pendulum system is a highly coupled multivariable, nonlinear, unstable system. It is the perfect experimental device to examine various control theories. Controllability, stability, robustness and some other key performance in control will be examined in the process of controlling such system. The self-balancing robot is in fact a movable 3 DOF inverted pendulum system. The system, taking the gyro as feedback, is balanced by outputting different torque in two wheels.

Function

Description

DC Servo Power

85W

Gear Ratio

8:1

Motion Controller

-              DSP and FPGA based embedded controller

-              PC104 Bus

-              3 Axes Motion Controller

Software environment

WIN98/MATLAB6.5

Maximum Speed

1.6m/s

Power

NiMH Battery 8.5Ah(24V)

Duration

>1.5 H

Maximum Ramp Angle

20°

Gyro

-          Power 9~12V

-          AD/DA resolution 12bits

-          Current 30mA

-          Maximum angular velocity  300deg/sec(25˚C)

-          Range 360˚ (25˚C)

-          Sampling Frequency 150HZ

-          Temperature Bias 0.025%/˚C

-          Operating Temperature -40~50˚C

-           Analog Output (0~4.096V)

-          Repeatability 0.10˚

Dimensions

260 x 450 x 730mm

Weight

20Kg

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