Reaction Wheel Balanced Inverted Pendulum - Optimally Designed for Withstanding Hard Blows
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- Опубликовано: 11 сен 2024
- Publication: ieeexplore.iee...
This is our latest version of the reaction wheel balanced inverted pendulum presented at IEEE ARGENCON 2018.
In this project we designed and built a reaction wheel balanced inverted pendulum. The pendulum is stabilized in the vertical position with a discrete time LQR implemented in a microcontroller.
The mechanical design was done by parametrizing the most relevant dimensions of the assembly and then running multiple simulations sweeping through different combination of values. For each combination we evaluated what was the maximum angle the pendulum could recover and then selected the best combination of dimensions that maximized the performance of the system.
one day that wheel will take it's revenge on you
I wish that could happen 😂
My takeaway from this is that a reaction wheel can be hit with anything you find in your own house
What a beautiful thing.
Wow maybe if a robot fight too have this, it spins, then their hits will be pushed back 45° instead. Like kind of armour then behind is bullet proof or rocket proof
i couldn't understand the concept of balancing ,and a read more articles,why when we turn the wheel clockwise the pendulum turn anti-clockwise is that magic ,what is the secret behind the wheel ,i mean can any wheel do that or special wheels,is it like the cart-pendulum concepts?? help me
Good job! Congrats!!
Impecable! Me encanto
Hi Gonzalo..
Please tell me the name of the motor or its specification...
Please..
Very nice built
Maybe can lessen the damage hitting to ourselves.
Can i buy this from you?
Hi
Gonzalo
What is your motor DC name?
Hola Gonzalo estoy tratando de replicar esto mismo , pero con el pendulo colgando y no tengo idea por donde empezar. , vi que tus notas al respecto están en la página , pero no puedo acceder a ellas porque me pide un mail no gmail
Greetings! This video was very helpful! I am in a university of automation, and i have a final assignment to make a Reaction Wheel Inverted Pendulum. I wanted to ask, what parts do you suggest to buy for building this , and also what kind of encoder would make the best choice. I am a little bit confused on how to use and combine the H-bridge , the encoder , the gyroscope(if it is needed), e.t.c. Any advise would be so helpful! :)
ieeexplore.ieee.org/document/8646093
@@GonzaloBelascuen can you send me the pdf file from your project in my email? Its makisfun@gmail.com
@@makisfun if you have the document can you send it to me? Thanks in advance
oelserafy@hotmail.com
I'd also like an emailed copy if at all possible .. pendulum at idealsound.ca
Which motor did you use?
Can you share the files to improve the controller ?
Wow looking at this i imagine shielding using glove with something spinning to block maybe will be something good defence?
Would this work if the "rest/balance" orientation is sideways i.e. the pendulum is sticked perpendicular on a wall?
Hello! It would fall because of the same reasons you cannot stand horizontally on a vertical wall. The human analogy of the system would be someone standing on one leg and balancing by swinging his arms, you may realize that swinging your arms would not allow you to stand on a wall!
Gonzalo Belascuen Interesting! Where can this be applied/utilized if I may ask? Like can it be used in space stations or wherever
@@philipokke Check this out ruclips.net/video/Okf283Ct-NY/видео.html
the type of motor pleass
Hello :)
When do you plan to publish the paper?
Im currently working on my masters, and my thesis is inverted pendulum. Do you maybe have math extract for the model? And maybe matlab and C code?
Thank you.
ieeexplore.ieee.org/document/8646093
@@GonzaloBelascuen can you tell me how can i find reward function for your project
Could you share the simulation model files? Thanks and great job.
Do you also short circuit the DC motor (... I assume it's a DC motor) to increase its deceleration?
Hello! You did a great job. It's so robust. By the way, what is the "trick" that made pendulum pop up at 0:10 with weird noise? Please tell me the trick.
it rapitly starts rotating in the opposite direction and then breaks hard when its standing
Very nice, but don't hit it so brutally. It's quite a sight to see what movements are necessary to hold the tipping point without your help.
Know like the exercise walking thing? Like that as glove. Maybe men should wear this one day one blocking hand to walk around when with family.
@Gonzalo Belascuen, you project is amazing that it can withstand such hard blow! I am very interested in building a balanced inverted pendulum. So I am creating an account with IEEE so that I can purchase your paper. I am a new comer, who has little experience and knowledge about electronics and robot.......I would like to get your advise as to what would the key to understand your paper and even go further to build a project like this. Thanks in advance for your kind response.
It would require mechanics (torques, forces, speeds, accelerations etc.), a bit of programming (probably on a microcontroller like an arduino platform which is interfaced with some sensors), and finally the main domain would be control theory (feedback loops, PID controllers, state space controllers, state estimators like kalman etc.).
Xabi me and you one day inshAllah
Thats some outstanding work! Im trying to learn basic control algorithms without the mathematics background but having a hard time. How did you set the parameters up correctly?
If you really want to understand what is going on you must get into the mathematics like I did. However I found this guy that teaches control theory without getting heavily into the math, look up "Control Bootcamp" on youtube, he has a long playlist of videos that starts from the basics.
Thank you!!! Will get to that ASAP
ieeexplore.ieee.org/document/8646093
Spend countless hours and resources to build this prototype. Then spend his time hitting his contraption with random stuff lying around
Lol. What the hell are you doing? 😁
What motor you have used?