June 24, 2017
June 24, 2017
June 28, 2017
This paper presents a student project that resulted in a low-cost robot that can be used to teach dynamic systems and control. The body of the robot was 3D printed. The low-level control was performed by an Arduino. The high-level control was handled by a Raspberry Pi. The Raspberry Pi and Arduino communicate over USB serial. The Raspberry Pi additionally provides a wifi connection for the robot. The robot is a two-wheeled balancing robot that is essentially an inverted pendulum. The robot carries a glass of water while performing various maneuvers such as line following. Students learn the importance of feedback to stabilize the unstable inverted-pendulum system. A real-time feedback control algorithm is implemented on the Arduino. Students also learn various aspects of Linux and Raspberry Pi in order to do the high-level control.
The final cost for the robot is less than $250 and it makes a useful experimental system for dynamic systems and control courses.
Krauss, R. W., & VanderRoest, C. T. (2017, June), Board # 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control Paper presented at 2017 ASEE Annual Conference & Exposition, Columbus, Ohio. https://peer.asee.org/27760
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