Robot Project

Self Balancer

Self Balancing Robot:

This Robot uses an analog devices ADXRS150 Gyro and ADXL202E Accelerometer to control a pair of 70 oz-in gear motors to keep the robot balanced. The robot transmits data to a PC for real time control.

Processor: NRF24E1 20MHz 8051 uP and 2.4 GHZ 1Mbit Transceiver SOPC

Sensor: CMOS 640x480 jpeg camera, wheel encoders, tilt & angular acceleration sensor, magnetic field sensor, temperature and capacitance type distance sensor.

Locomotion: 2 70 oz-in continuous 150 oz-in stall torque gear head motors.

Power: 10 NiCd 1.2 V AA cells, 1 NiCd 3.6V 1/5 A cell

Camera / Gyro Interface / Robot:

Robots may also use the gyro sensor for balance. An inverted pendulum robot like segway robots can use a gyro sensor and a PID loop to actively balance itself. (more on this subject to come).

Camera / Gyro Interface / Robot: (How Far Am I From A Beacon)

Robots may also use beacons for navigation and map following. Multiple beacons can be used to provide a robot with information on it's current location in "World Coordinates" as well as highlight other important features like power sources, obstacles and other robots.

Roller Bot:

This Robot has a downward looking vision sensor for position tracking and is able to wander around transmitting it's progress without getting into too much trouble. An internal Gyroscope measures angular acceleration to help stabilize and orient the center cylinder. (The cylinder is weighted to point sensor down)

Processor: NRF24E1 8051 uP and 2.4 GHZ 1Mbit Transceiver SOPC

Sensor: CMOS 640x480 jpeg camera, wheel encoders, tilt & angular acceleration sensor, temperature and capacitance type distance sensor.

Locomotion: 2 Unipolar stepper motors.

Power: 5 NiCd AAA cells, 1F Super cap,

Mini Bot:

This Robot is one of my first... It's only redeeming feature is it's small size (1" x 1" x 1.75"). The power requirements were too high for it to run longer for a few minutes so the wheels were scavenged for another robot.

Processor: SX28AC100 100MHz. uP: 100 Mips Pipelined Pic 16C5X clone.

Sensor: Temperature & IR.

Locomotion: 2 Bipolar micro stepper motors (0.3" D x 0.25" L).

Power: 1 NiCd 1/5 A cell & 0.22F Super cap.

Digital Projects | Sensor Projects | Robot Project | Analog Projects

		Self Balancer	Self Balancing Robot: This Robot uses an analog devices ADXRS150 Gyro and ADXL202E Accelerometer to control a pair of 70 oz-in gear motors to keep the robot balanced. The robot transmits data to a PC for real time control. Processor: NRF24E1 20MHz 8051 uP and 2.4 GHZ 1Mbit Transceiver SOPC Sensor: CMOS 640x480 jpeg camera, wheel encoders, tilt & angular acceleration sensor, magnetic field sensor, temperature and capacitance type distance sensor. Locomotion: 2 70 oz-in continuous 150 oz-in stall torque gear head motors. Power: 10 NiCd 1.2 V AA cells, 1 NiCd 3.6V 1/5 A cell
			Camera / Gyro Interface / Robot: Robots may also use the gyro sensor for balance. An inverted pendulum robot like segway robots can use a gyro sensor and a PID loop to actively balance itself. (more on this subject to come).
			Camera / Gyro Interface / Robot: (How Far Am I From A Beacon) Robots may also use beacons for navigation and map following. Multiple beacons can be used to provide a robot with information on it's current location in "World Coordinates" as well as highlight other important features like power sources, obstacles and other robots.
			Roller Bot: This Robot has a downward looking vision sensor for position tracking and is able to wander around transmitting it's progress without getting into too much trouble. An internal Gyroscope measures angular acceleration to help stabilize and orient the center cylinder. (The cylinder is weighted to point sensor down) Processor: NRF24E1 8051 uP and 2.4 GHZ 1Mbit Transceiver SOPC Sensor: CMOS 640x480 jpeg camera, wheel encoders, tilt & angular acceleration sensor, temperature and capacitance type distance sensor. Locomotion: 2 Unipolar stepper motors. Power: 5 NiCd AAA cells, 1F Super cap,
			Mini Bot: This Robot is one of my first... It's only redeeming feature is it's small size (1" x 1" x 1.75"). The power requirements were too high for it to run longer for a few minutes so the wheels were scavenged for another robot. Processor: SX28AC100 100MHz. uP: 100 Mips Pipelined Pic 16C5X clone. Sensor: Temperature & IR. Locomotion: 2 Bipolar micro stepper motors (0.3" D x 0.25" L). Power: 1 NiCd 1/5 A cell & 0.22F Super cap.
		Digital Projects \| Sensor Projects \| Robot Project \| Analog Projects

06/04/06

Self Balancer