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Unread 06-05-2005, 14:38
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AKA: Mike Sorrenti
FRC #0237 (Sie-H2O-Bots (See-Hoe-Bots) [T.R.I.B.E.])
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Re: Self-Balancing 2 Wheeled Robot

Quote:
Originally Posted by Alan Anderson
If you mount the pendulum to hang from the point of rotation of the platform (i.e. the axle), you'll have a lot less to worry about. You can account for the approximately known linear acceleration and compute something very close to the actual tilt. Modeling the dynamics of the pendulum might still be necessary, but you won't have to deal with the chaotic "double pendulum" system that would arise if the pivot point were somewhere above the axle.
I can see how that would stop the pendulum from swinging wildly, but for the pot to take readings, it has to be mounted on the pot, right?

The way I'm thinking of designing a pendulum is for it to be less of a circular motion of swinging and more of a linear one. Think of a box with beads in it, when it's tilted the beads fall to one end of the box instead of swinging like a classic pendulum would. Of course, I wouldn't use beads.
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Last edited by Mike : 06-05-2005 at 14:41.