Group SD0614
From ECE Department Wiki
Self-Balancing Robot
Initial physical idea for the robot
Group Memebers
This group has 4 members; Nate Muehlberg, Joe Volk, Russell Cumber, and Mike Winans.
Introduction
The goal of this project is to design and build a two wheeled self balancing robotic device. This device must utilize the DSP from the DSP Scholar team, apply fundamental control system concepts, as well as interface and integrate peripheral devices, such as sensors and motors, to the DSP controller. As the finished project will be used as a recruiting tool to encourage student interest in the DSP Scholar Team, this robot also needs to be really cool.
Our primary requirement is the design and construction of a 2-wheeled robot capable of self balancing by adapting prior DSP scholar team efforts. This effort can be divided into three main areas of development: software to run on the DSP, supporting electronics to provide sensory inputs and power to the system, and packaging to be the robot.
Design Capture
1. Software :: Group_SD0614_Software_Main
a. Implement a balancing algorithm which incorporates all of the sensory inputs b. Communicate with sensors and motors to send/receive data c. Setup the necessary interrupts and registers for correct operation
2. Chassis
a. Must support robot components b. Needs to be sturdy enough to handle wall confrontations c. Adjustable center of gravity
3. Electronics ::
Group_SD0614_Electronics_Main - DSP Board Information Group_SD0614_Electronics_H_bridge - Power Board Information Group_SD0614_Electronics_Sensor - Sensor Board Information
a. Use TI's 320TMS2812 DSP and the DSP scholar teams design efforts b. Circuit to regulate voltage to DC motors c. Inclinometer, Gyroscope, and Rotary encoders to measure tilt angle, acceleration, and horizontal velocity. d. Battery Pack to supply adequate power for driving all components
Time permitting we would like to add the following features.
a. Movement adjusted by controller b. Left and right turning capability
Time Line/Responsibilities
Russell will be responsible for sensors and balancing programming. Mike will be designing the upper body of the robot, Joe will be working on the Daughter card, and Nate will be working on the power circuit, and all three will be responsible for the chassis and electronics development.
Summary
With this project we hope to develop an understanding of the principals of software development, controls, communication, and hardware development. As a result of it's perceived difficulty, one of the most memorable innovations of this decade was the release of the self-balancing scooter by Segway, Inc. By building our own self balancing device we hope to create an impressive recruiting tool for use by the DSP Scholar team and the electrical engineering department as a whole. Through the development of this device we will display the knowledge we learned in Digital Signal Processing, C Programming, Signals and Systems, Communication Systems, Electronics, Embedded Process, Controls, Signal Integrity, and our Circuits classes.
