机器人技术资料-Building A Balancing Robot.pdfVIP

Building a Balancing Robot with the IntelliBrain™ Robotics Controller and Lego® Bricks Introduction Who says building a balancing robot has to be expensive and difficult? With just two inexpensive infrared photoreflectors, an IntelliBrain ™ robotics controller and a handful of Lego® parts you can build and program your own balancing robot (“BalanceBot”) before you know it! Theory of Operation The balancing robot shown above is a highly unstable two wheeled robot. The largest mass, the battery pack, is positioned above the axle, making the robot an inverted pendulum. The robot will naturally tend to tip over, and, the further it tips, the stronger the force causing it to tip over. Unlike the Weebles toys that were marketed several decades ago, “Weebles wobble but they don’t fall down!” the BalanceBot will not wobble, it will just quickly fall down without a feedback control system to stabilize it. While this sounds like a difficult problem that would require a gyroscope or accelerometers and programming advanced algorithms, it is amazingly easy and can be accomplished with just two inexpensive Fairchild QRB1134 photoreflectors, an IntelliBrain robotics controller and a short Java ™ program. The key to keeping the BalanceBot upright is the ability to measure the robot’s lean, allowing the control software to power the motors in a way that will eliminate all but the slightest lean. Copyright © 2004 RidgeSoft, LLC 1 Battery Box IntelliBrain Controller QRB1134 QRB1134 Sensor Sensor Figure 1 - BalanceBot Side View Measuring the BalanceBot’s Lean The BalanceBot uses two Fairchild QRB1