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[DPRG] Re: "IT" to be revealed

Subject: [DPRG] Re: "IT" to be revealed
From: Dan Miner miner at centtech.com
Date: Fri Nov 30 19:08:02 CST 2001

Outstanding!  Just curious - what makes it turn slightly 
as it moves back and forth to balance the ball?  Is this
where the encoders will be useful?

				- Dan Miner

> From: David P. Anderson [mailto:dpa at io.isem.smu.edu]
> Sent: Friday, November 30, 2001 4:06 PM
> Howdy
> Well, I don't have a robot balancing on two wheels yet!  But I have
> suceeded in getting one to balance a pole with a ball on top, the
> classic "inverted pendulum" of which bi-pedal hominids are an example.
> Here's a picture of it balancing the pole/ball in my office (I don't
> get much real work done on Friday afternoons!):
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/b06.jpg
> I took one of the three wheeled bases I've been working on 
> and extended
> the caster wheel to give the platform more stability.  Here it is
> without the pole:
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/b01.jpg
> The pivot has a ball bearing in one end and a 5k pot on the other:
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/b03.jpg
> The pot has an opamp to precondition the signal for the 8 bit A/D
> converter on the cpu board, an MIT 6.270 HC11 board.  It returns
> about 7 counts per degree.
> Mounted under the center of the pivot is an Analog Devices ADXL202
> accelerometer for evaluation.  Here's another view of the pivot:
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/b04.jpg
> and another view of it hovering beside me as I take it's picture,
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/b08.jpg
> There is a 10 Meg mpeg movie of it balancing and some of me pushing
> it around at:
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/balance3.mpg
> I'll try to make a smaller version and leave it at:
> ftp://www.geology.smu.edu/pub/users/dpa/robo/nbot/balance4.mpg
> cheers!
> dpa

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