Robot balances and translates on a ball using Arduino.

20 Apr 2018

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General Description

A robot that can balance and translate on a spherical ball is developed. Its primary purpose is to focus on the high mobility in a narrow space. It can be applied in many applications such as home automation, indoor services, ...

The complicated ball robot system with large size is implemented by using two Arduino Due boards. These boards and its shield are set on the top of the robot body as the following picture:

(Hardware structure of the robot system)

The robot collects data from a 9DOF Xsens IMU which possess the high accuracy of measurements. By using this device we can obtain the lean angles of the robot. Two Arduino boards and its shield is used to sense the signal from the sensor and generate control pulses for 200W AC Servo Motors. The translation and balancing of the robot are governed by the combination motions of the three omnidirectional wheels on a spherical ball.

The demonstration aims to show operations of the robot, it can be controlled by using a Joystick as well as be able to recover to the initial position even though several large forces are pushed to the robot body.

https://www.youtube.com/watch?v=reyCgdOuSWo

Top Comments

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balearicdynamics over 7 years ago

Hello, What kind of motor controller do you have used? And what about software implementing the controls on the two Arduinos?

Enrico
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thachdovan over 7 years ago in reply to balearicdynamics

Hi Enrico, I wrote my own controller and software to control it.
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thachdovan over 7 years ago in reply to ntewinkel

Sorry guys, I misunderstood the scope of the contest. Currently, I cannot release all the source of the project. So I will close this thread.
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balearicdynamics over 7 years ago in reply to thachdovan

Very strange Tachdovan. The scope of the contest, as well as the clear rules are explained in the main page and the contest details too. Despite this, to be hones it sounds strange to me that you have not understood what does it mean a contests that names "Open Arduino"

Enrico
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ntewinkel over 7 years ago in reply to balearicdynamics

>a contests that names "Open Arduino"

To be fair, that means it's open to any project that uses Arduino. Open in the sense of no other theme or limitations, not meaning share all your source code.

thachdovan, I think it's wonderful that you shared this project and it's really well done and very inspiring. No need to remove it. Fewer details might give you fewer points towards winning, but then that's not always the point of sharing projects and accomplishments on element14.
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mcb1 over 7 years ago in reply to ntewinkel

Currently, I cannot release all the source of the project
I would simply add that comment in the post (perhaps in large letters).

It is understandable that there are some commercial issues, and it does show a great concept.

Mark
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balearicdynamics over 7 years ago in reply to ntewinkel

Nico, you wrote:

I think it's wonderful that you shared this project and it's really well done and very inspiring. No need to remove it. Fewer details might give you fewer points towards winning, but then that's not always the point of sharing projects and accomplishments on element14.
and about this point I totally agree with you

Enrico
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balearicdynamics over 7 years ago in reply to ntewinkel

Nico, you wrote:

I think it's wonderful that you shared this project and it's really well done and very inspiring. No need to remove it. Fewer details might give you fewer points towards winning, but then that's not always the point of sharing projects and accomplishments on element14.
and about this point I totally agree with you

Enrico
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