Chief Delphi - pic: Vex 2 Wheel Balancing Robot

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- - pic: Vex 2 Wheel Balancing Robot (http://www.chiefdelphi.com/forums/showthread.php?t=46729)

Tom Bottiglieri

19-04-2006 23:13

pic: Vex 2 Wheel Balancing Robot

loading photo ...

Greg Needel

19-04-2006 23:15

Re: pic: Vex 2 Wheel Balancing Robot

well remember this thread.... http://www.chiefdelphi.com/forums/sh...ad.php?t=40920

now i don't need to post pictures of what i was working on because tom already did it. ;)

billbo911

20-04-2006 10:43

Re: pic: Vex 2 Wheel Balancing Robot

Quote:

Originally Posted by Greg Needel

Well, remember this thread....http://www.chiefdelphi.com/forums/sh...ad.php?t=40920?

Now I don't need to post pictures of what I was working on because Tom already did it. ;)

Greg, first off, that's awesome. I would love to see some video of it in action, hint hint.
From the picture I would say that you are using several non-standard Vex components. I can see the motor is not standard, the motor controller looks custom. I can see what looks like 4 analog inputs from sensors of some sort and one interrupt input from what I am guessing is a digital encoder.

Care to elaborate on how you achieved this? :)

WE NEED DETAILS!!!!!!!! :D

Tom Bottiglieri

20-04-2006 10:52

Re: pic: Vex 2 Wheel Balancing Robot

Quote:

Originally Posted by billbo911

It looks like the guts of the balancing comes from the accelerometer (from the 2005 KOP :) ), gyro, and encoder.

I remember seeing the control algorithm for this kind of bot on some site. It needed 4 inputs.. Angular position (found initially with accelerometer and force of gravity, then ntegrated from gyro), angular rate of change (reading from the gyro), linear position (encoders), and linear rate (derivative of position).

The stuff on top of the Vex controller was for a buzzer, and driving a backlit switch. There was a small servo amplifier on the other side.

billbo911

20-04-2006 11:00

Re: pic: Vex 2 Wheel Balancing Robot

Quote:

Originally Posted by Tom Bottiglieri

It looks like the guts of the balancing comes from the accelerometer (from the 2005 KOP :) ), gyro, and encoder.

I remember seeing the control algorithm for this kind of bot on some site. It needed 4 inputs.. Angular position (found initially with accelerometer and force of gravity, then double integrated from gyro), angular rate of change (integrated from the angular acceleration reading from the gyro), linear position (encoders), and linear rate (derivative of position).

The stuff on top of the Vex controller was for a buzzer, and driving a backlit switch. There was a small servo amplifier on the other side.

Wow, thanks again Tom! Just like with the Kiwi Vex, you helped out tremendously.
(Now, if we can just see the code :rolleyes: )

Greg Needel

20-04-2006 11:31

Re: pic: Vex 2 Wheel Balancing Robot

well I asked if i could share the code but unfortunatly the answer was no. If you are interested in balancing code i would take a look here http://www.tlb.org/scooter.html

I have some other pictures that i can post later though.

billbo911

20-04-2006 16:55

Re: pic: Vex 2 Wheel Balancing Robot

Quote:

Originally Posted by Greg Needel

Thanks for the reply and explanation. I understand the desire to not publicize the code, no problem.
More than that, thanks for the link. The information found there is really helpful and will go a long way in helping me do similar development! :D

Now, FEED us PICTURES!!!!!!! Please ;)

JakeGallagher

20-04-2006 23:07

Re: pic: Vex 2 Wheel Balancing Robot

Hahah Tom I saw this before I left for boot camp. Not on subject, but weren't the other exhibits awesome? I got a picture of every one of them, and pictures of me with Han's clothes. Oh yeah, and a picture of me with one of the ForceFX sabers. That was a good day.

intellec7

23-04-2006 16:13

Re: pic: Vex 2 Wheel Balancing Robot

Can the two wheels spin independently? It looks like they are coupled.

Greg Needel

23-04-2006 18:19

Re: pic: Vex 2 Wheel Balancing Robot

Quote:

Originally Posted by intellec7

Can the two wheels spin independently? It looks like they are coupled.

it is one axle so they both move the same. These were just built as demo units to show how balancing works so independent wheel control (like the Segway) was not necessary.

As for the pics i need to get them off my work computer. maybe tomorrow

Greg Needel

25-04-2006 09:02

Re: pic: Vex 2 Wheel Balancing Robot

you ask and you shall receive.

http://robotphotos.org/v/members/fir...avId=x73ef092f

also to give credit where credit is due. The original design used an IFI min controller and was build by Benge Ambrogi. That design was later changed to vex by Kristen Kelso. Then the final design was done by myself and another deka employee.

remember folks design is an iterative process.

ahecht

25-04-2006 15:19

Re: pic: Vex 2 Wheel Balancing Robot

I got a chance to play with this thing at Star Wars exhibit the last time I was in Boston. Very cool.

If you're in the area, I would encourage you all to check it out. I believe it ends on Sunday.

Now all someone has to do is make one that works with the VEX motors. Heck, even doing it with the more powerful robovation motors would be a challenge.

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