Essays about: "Spherical Inverted Pendulum"
Found 3 essays containing the words Spherical Inverted Pendulum.
-
1. Extended Kalman Filter as Observer for a Hydrofoiling Watercraft : Modelling of a new hydrofoiling concept, based on the Spherical Inverted Pendulum Model
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : Hydrofoiling in general has the potential to revolutionize watercraft in the future since it allows smoother and faster transport on water with less energy consumption than traditional planning hulls. Even if the concept of hydrofoiling has been around since the last century, development in control theory and material science together with increased computing power has led to a growing interest for the technology. READ MORE
-
2. Development of a ball balancing robot with omni wheels
University essay from Lunds universitet/Institutionen för reglerteknikAbstract : The main goal for this master thesis project was to create a robot balancing on a ball with the help of omni wheels. The robot was developed from scratch. The work covered everything from mechanical design, dynamic modeling, control design, sensor fusion, identifying parameters by experimentation to implementation on a microcontroller. READ MORE
-
3. Modeling and Balancing of Spherical Pendulum using a Parallel Kinematic Manipulator
University essay from Lunds universitet/Institutionen för reglerteknikAbstract : The balancing act of an inverted pendulum with a robotic manipulator is a classical benchmark for testing modern control strategies in conjunction with fast sensor-guided movements. From the control design perspective, it presents a challenging and difficult problem as the system is open-loop unstable and includes nonlinear effects in the actuators, such as friction, backlash, and elasticity. READ MORE
