Development Of A Robot Balanced On A Ball

With the development of intelligent,the robot has been applied to all aspects of people's lives,almost infiltrated the industrial,agricultural,military,medical major and so on.Intelligent robots have a certain degree of self-judgment and decision-making,some repetitive work gradually replaced by the robot.Such as industrial robots,mechanical arm can do some work in factory.Mobile robot as a branch of the robot,its most important feature is the ability to move independently.Mobile robots are divided into many types,from the mobile way points,mobile robots can be divided into wheel,crawler,leg(single leg,legs and multi-leg type)and underwater push type.This paper presents a moving robot balancing on the ball.It is a new type of moving robot.Unlike the inverted pendulum with two wheels(for example,Segway Human Transporter),the inverted pendulum of the ball can move in any direction without changing its attitude,and keep stable movement.This robot can be used instead of two rounds of robots and self-balance,this robot can also be developed by the prototype after the change in control gain to apply to transport.In this paper,the balanced mobile robot on the ball consists of main body,the caster,three sets of stepper motor,the balanced mobile robot on the ball is equipped with a MPU6050 module,which is controlled by 16-bit microcontrollers and run on nickel-metal hydride batteries The Each caster is directly connected to the shaft of the motor without a reduction gear,which reduces the mechanism clearance.In this paper,we use the theory of navigation,Kalman filter,PID control and quaternion fusion to establish a complete system of ball car system,and realize the balance control of the car on the ball.In the future,our goal is to be able to control the mobile robot on the ball by remote control,improve the stability of the robot and load capacity,add a variety of service functions to the ball,and make a number of robots to coordinate movement.In this paper,by controlling the mobile robot balance movement,I master the mobile robot related aspects of technology and theory,so this paper has a certain theoretical and practical significance.