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National Repository of Grey Literature

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Design of construction and control algorithm for unstable robot with spherical base Špila, Filip ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor) This bachelor's thesis deals with the complete design, manufacture, and control of an unstable robot, balancing on a spherical base, also known as ballbot. The complete design of the construction, motor unit selection, design, implementation testing of an intelligent control algorithm to keep the robot in a meta-stable equilibrium is assumed. Multiple tools such as Matlab/Simulink are used for this approach. It also includes the final implementation of the code in the PIC microcontroller. The project has an interdisciplinary character and is meant to be done as teamwork whereby each team member has a strictly defined role. Detailed record

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