O SCILLATION DAMPING SYSTEM FOR A BALL - SHAPED ROBOT José Joaquín Alcaina Acosta José Luis Racero Robles

G OAL OF THE PROJECT WORK Control an oscillation dampingsystem of a spherical robot. Control the ball measuring ins oscillation and correcting it with the flywheel. Control the excess of speed and abrupt actions for not returning the system unstable.

S TRUCTURE OF THE WORK Introduction about the history of the spherical robot, a theoretical study about the dynamics of the operation of the robot. Explanation about the mounting of the robot. Modeling of the behavior of our robot. Measurement, programming and correcting problems. Testing. Conclusions

M AIN PARTS OF THE SYSTEM Sensors: Gyroscope : It will be used to calculate the angular velocity of the roll angle of the ball. Accelerometer: It will be used to measure the motor acceleration Encoder: Used to measure the rotational speed of the motor.

M AIN PARTS OF THE SYSTEM Processor & Software: Teensy++, based in Arduino Software.. Electronics Board: It integrates H-Bridge. Teensy, sensors and motor will be connected in it. Power supply: Cells or batteries. Motor: DC Motor with a nominal voltage between 12V-15V.

T IME AND TEAMWORK MANAGEMENT

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