Design and construction of control system for a ball-shaped robot

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School of Electrical Engineering | Master's thesis
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Date

2010

Department

Automaatio- ja systeemitekniikan laitos

Major/Subject

Automaatiotekniikka

Mcode

Aut-84

Degree programme

Language

en

Pages

(12) + 72 s. + liitt. 9

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Abstract

The aim of this thesis work is to design and construct a control system for a ball-shaped robot, the Thistle, to meet the defined functional requirements. The control system, which includes two parts: hardware and software realizes the planned architecture and performs required tasks. In the hardware part, two DC motors are applied as actuators. Additionally, various sensors including encoders, accelerometers, gyros which are used to detect the attitude of the robot and inner status of the robot are investigated carefully. One on board computer (Gumstix Overo Fire) is used as a controller to integrate the functions of actuators and sensors. Then wireless communication between operator and robot is established in order to send some simple test commands to the on board computer by WLAN to prove that every part could work and well coordinate with each other. In addition to this electronics work. mechanical work is also involved. Considering the frangibility of the on board computer, accuracy of the measurement from the sensors and the robustness of the whole system, the method to install components on the robot should he taken into account. In the software part, the development environment for cross complying is built based on Open Embedded. In robot, a simple embedded system based on the Gumstix COM is developed under Linux. As the controller of the robot, this on board computer is responsible for receiving data from sensors, send command to actuators and also communicate with the operator through WLAN.

Description

Supervisor

Halme, Aarne|Hyyppä, Kalevi

Thesis advisor

Ylikorpi, Tomi

Keywords

ball-shaped robot, control system

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Citation

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-2020122357516

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[dipl] Sähkötekniikan korkeakoulu / ELEC