Ball balancing Robot

ABOUT THE PROJECT

• Generally differential drive mobile robots are non holonomic. The motion constraints pose hinderance in manuevering in indoor cluttered environments.
• The work focuses on holonomic Ball-Balancing Robot (BBR).
• BBR system is inherently unstable, and can be dynamically stable. BBR does not have any constraint and need to turn in cluttered places.
• It is equipped with a kinect sensor for providing vision capabilities using which it could simultaneously localize itself and map its surroundings (SLAM) that would result in a seamless motion.
• The investigations focused on control of BBR system by linearizing its complex non-linear model and use LQR and PID controllers to achieve stability.

SKILLS INVOLVED

• Dynamics and Kinematics modelling
• Design development
• DC motor control
• Jetson TK1
• ROS C++
• Control Algorithm development

BALL BALANCING ROBOT