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National Repository of Grey Literature

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Redesign of the construction and control algorithm for an unstable robot with a spherical base Novák, Vlastimil ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor) This bachelor thesis deals with the redesign of an unstable robot with spherical base, also known as Ballbot. The aim of the work is to analyze the existing structural elements of the robot, available sensors, control and power electronics and identify functional deficiencies. Subsequently, design a solution and implement it in order to eliminate all found deficiencies. Part of the work is testing a revised version of the robot, which, among other things, consists of checking the functionality of individual sensors and checking the comunication between sensors and microcontroller. Emphasis is placed on determining the real accuracy of newly used sensors depending on the settings used and ambient conditions. Detailed record

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