3D control of the robot successful
After getting the lateral testing done, it was time to combine the dynamics of the two planes and see if the controller would still work. This test was successful.
Each controller uses only a MEMS gyroscopic sensor and an angular encoder on the motor. The accelerometers on the robot were not used.
The transversal balancing is established by an LQR controller. The lateral controller was designed by H-infinity loop shaping.
Now I am trying to improve the transversal controller, such that the robot will not always try to get back to its original position. Next to that I will try to make the robot get up by itself when it is leaning on one of its sides.
If you can’t see the movie, because you do not have Quicktime, you can also check it out here:
3D stable!
Saturday, September 22, 2007
