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Single point balancing with two and with three reaction wheels
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- Опубликовано: 28 фев 2021
- Two wheels - Arduino nano controller
Three wheels - ESP32 or Arduino nano controller
Motors - Nidec 24H brushless, built-in driver
Both projects is open source:
github.com/remrc
3D print files
www.thingivers...
More info about this
• DIY Reaction Wheel Ard...
• Two axis reaction whee...
One axis
• One axis self balancin...
![EST Gee - NEVER NEED (Feat. Selfpaid Savage) [Official Video]](http://i.ytimg.com/vi/f2cRtr52HXI/mqdefault.jpg)
Nice, consider stacking them
If he (or she), kept the code the same as well, (meaning no changes in the code before it), I'll legit be amazed!
The bottom will have to work double time
@@instantnoodles8640 I think the upper one will work double
@@sy7028789 actually i think both will have to work 1.5 times as hard as their combined potential
I dont know how to say it, english isnt my mothers language. But i hope u get what i tried to say
YOU HAVE SUCH AN OPPORTUNITY! Make the bottom balancer a solenoid, and you'll have a programmable pogostick...
Good ideia
something similar to the one legged hopping robot from disney ruclips.net/video/M0ZXmGRCuts/видео.html
but instead of servos to move the mass you use reaction wheels
You beat me to the suggestion!!
thats fiction
@@deepserket4390 Just a friendly heads-up, Disney REALLY loves to smell their own farts, nothing shown on that channel in the past years is even half as special as they try make it out to be.
Why so underrated this deserves views
Just checked video for that cube that stands on it's corner, cubli--and more. It currently has 197K upvotes and 14,114,006 views, but it's been up since 2013.
jes
Wait for some years later and it will be everyone recommendation
At least it’s 69k views😏😏😏😏
Finally, you proved that two reaction wheels are adequate for single-point balancing. Great work!
And seemingly more stable than 3 if you look at each of their sways
@@ZecrOfficial true the sway on the 3 wheeled one is more pronounced but this could potentially be due to the controller's tuning
why wouldn't 2 be enough? There are only 2 degrees of freedom here.
@@Zamsky39 Two tilts, and rotate. But rotate is probably not needed.
love to see a tutorial on how to make this
Take a look at the cubes they are amazing too. I'm putting this on my project list for 21... Gotta make one and I have no idea why. Going after the 3d print specs etc... just wild what a good controller will do. I'm guessing accelerometer and gyro as well. My bet is all are contained on one board but we'll see...
Two simple steps:
1. Assemble
2. Program
You're welcome!
Seriously though, it'd be nice to see the code.
@@TheJacklwilliams the boards being used are an Arduino Pro Mini and ESP32 (pretty much an arduino with wifi and bluetooth) and neither have gyro on their own, so likely a secondary gyro board for them
@@rafeesamith Yes you can see the gyro board on the 2-wheel unit at 1:23, looks like a GYU-521 module
Wouldn't it be nicer if you'd figure it out for yourself? Remember, it's not the destination, it's the journey to get there what matters. On a similar note, people who are always told everything, will never learn anything. So you got to figure out at least some of the stuff for yourself. That way you'd get more satisfaction from it, than if you'd be show the code, the schematics, and everything, and you'd only have to put everything together. That wouldn't be so satisfying now would it? It would be like solving a puzzle which you already know how it looks like, and where each puzzle piece goes. That wouldn't be as satisfying as an unknown puzzle, where you have to figure out which piece goes where. Sure, it can get frustrating at times, but the result would be much more satisfying. Remember, bitter is patience but its fruits are sweet.
Very interesting application of the conservation of momentum. In this project you can also observe another phenomenon: the stroboscopic effect. Very well made video. Congratulations.
Can you stack it on top of one another?
Interesting idea. :)
@@ReMRC The sky is the limit :)
X2
@@leonid3312 or the structral integrity of the little single point :)
@@ReMRC JUST DO IT PLS!
This makes me smile so much for some unknown reason.
me too bro
ऐसा आविष्कार चंद्रयान के साथ जाना चाहिए very good job
Just imagine hooking them up to an external power supply and leaving them running as cool desktop toys
how about wireless recharge coils?
@@ReadToasts You mean magnetic induction charging? I suppose it could be possible, but I don't know if there are any right now that have a large enough magnetic field or can supply enough power that a hobbyist can purchase within a reasonable price. I could be wrong though.
Nice! Thanks for posting the files!
perfect for rocket projects
Nice concept. Excellently executed
Love it! I can't even get the idea of how this works with torque. BTW it would be cool to stack them on top of each other.
Try to put the first on top of the second... It should work!
I would like to see complete assembly video, pl. put it on RUclips
This is brilliant man! Love to watch your vids
KSP REACTION WHEELS IN REAL LIFE!!!
Yep, KSP is the reason we all now know what reaction wheels are. We're in a "post KSP" age if you will....
It's future technology.
I was gonna say on another video, the third wheel is unnecessary, since in that configuration the moment of the third wheel could be created entirely through combining the moments of the other two. What might be useful, though, would be if the third wheel was in an orientation that wasn't exactly vertical. That way, the machine could also be made to spin
Wow man, thats unbelievable
Control system at its extreme
so this is how they stack multiple rocks on top of eachother
That was brilliant.
I wish my bicycle had these ones when i was a kid
Thanos would love this
Just the placement of the screws on the wheels is enough to explain the hardwork behind it
miniaturize it, would make a great desk toy at the office :P
It's like a symphony of pulse duration modulation. Geeez talk txt wasn't having it
Wow! They kind of look alive
I know this could help a paraplegic to stand, but perhaps it could also assist them in safely walking with prosthetic robot legs? It would be impossible for them to hit the deck.
Tutorial on that please :)
Why people don't make art with this, look really georgeus if made in something bigger.
Nice gyroscope development 👍
Very well done! He'd get even more solid results if he swapped the Arduino Pro Micro for a Teensy. The Teensy 4.1 runs at 600Mhz (over the 16Mhz of the Pro Mini) and it has a FPU so all calculations should be many times faster due to that alone. Event the cheaper Teensy 3.2 (96Mhz, FPU, DMA) would also work better than the Pro mini. The Teensy's are very Arduino compatible, so it's likely just to recompile and reap the benefits.
Yes, I know. For balancing with three wheels I use ESP32 which is many faster 16MHz atmega. But in this case this is not very important. If I change ESP32 to atmega it will works similarly. Speed is good sometime but not needed in all cases.
@@ReMRC Yeah. I also use ESP32's a lot. Less compatible, but more bang-for-buck. Have you used the Bluetooth that is builtin? Oh and have you seen this one? ruclips.net/video/M0ZXmGRCuts/видео.html
@@JensChrBrynildsen Yes, I use inbuild bluetooth. Fun jumping robot!
Можно сделать стул на одной ножке с которого не упадешь, пока аккумулятор не сядет)
Идея топ!
Evey human has a gyro installed inside it's body, just stand still and see how your body auto-corrects itself.
(If you are drunk or high it will start failing)
Yes!
Yeah. We are full of physics inside our body.
@@fuji_films Speak for yourself!
@@xbzq Uhm.
Balance the one on the left on top of the one on the right.
This is Dope.
Please post this on other platforms like LinkedIn
Oh they'd really bring in the views there
@@pioboss9823 nah but that get that resume padding
This could be used to make a surveying pole that always stands upright by itself.
Basically how reaction wheels work on the International Space stations and old satellite because I believe newer ones don't use them anymore
Of course they do
@@TheRysiu120 all or only if they need to aim precisely?
Cube-sats dont use them but all large satellites have reaction wheels. Its the only way other than engines to steer in space
@@TheRysiu120 besides it really is better than burning fuel but I wonder if you can get the wheels unstuck whit out needing fuel
Now to make them hop up and down stairs.
Now make a table with only one leg
Very awesome btw
Table with one leg ? What's so special in that, it's hella common
If you're talking about leg on ghe centre
I mean, i have seen tables with one leg, but they have like a circular base at the bottom, this machines are balancing in one point, but anyways, it was a silly comment i wrote like 2 am, so maybe you are right
Wow, that's impressive!
Круто! Мужик велосипед изобрёл))
can you please upload the resoruces you referred for making this or documentation that u've maintained.
it'll prove vital for engineering students like me.
A good student would DIY it instead of copying it
This is something that is useful.
Superb ! Respect !
very nicely done
now, stack them all
Try putting hydrolics on the bottom so it can jump
Pogo stick for mars mission
Oh, that is perfect. I LIKE IT
Beautiful
A new standart
Great work 👍🏼
Really awsome if u need a pet screwdriver. Also, when you're at work, maybe he can fix some stuff for you.
Fantastic bro
That's cool. Now turn it into a drone with one prop.
Yeah like good ol' Tom Stanton
Big like,genius
Imagine using 4 sticks that pops out quick if it debalences
Nice project, I have one suggestion, you could use only one direction meaning that the neutral point would be some 50% or less of maximum motor RPM. I suspect you would lose some controllability but be more precise
Yes, I think that is a correct idea. Need to try.
@@ReMRC from what I read this is how they use it on spacecraft there are also other benefits that are not applied for your project related to reliability. On the other hand there is a preccesion so a good algorithm should compensate for that.
Could you do better resolution/less noise to make them more 'static'?
It is always possible to do better.
how to make this ?
can you fit a camera with a gimbal on top ? self stabilizing monopod would be so cool
What's the performance specs, power consumption, size, weight, comparison....
hello
I'm working on making a robot just like it is.
The gyro sensor outputs fine, but the motor does not work.
Do I need a code modification or other material to control the motor?
900th subscriber :) you deserve it
Holy crap, 6 days later it's 2.4k
Nice project. What did you use as sensor?
MPU-6050
Great video, I would've liked to see your tabletop wave/move to see if it remained upright. Probably that particular top was too smooth?
Yes, rubber to prevent slipping.
Cool stuff. Is the difference in volume due to the number of wheels or just a difference in used hardware between the two? The variant with three wheels seems to be a lot quieter.
Yes, you are right. The newer motor model runs quieter.
This is so awsome
Awesome! Where i can learn how to build those?
But can they balance on top of each other?
Make it humanoid and give it intelligence
I love this technology. i have a question: why they didn`t rotate in the long axys (¿Z?)? i am thiking that the force is aplied at the edge of the box, isn`t it?
Vertical axis? Each wheel produce rotation force to motor axis. There is no constant force around the vertical axis.
Wonderfull projects... Subscribed ;)
I feel a challenge between these two...
'Wich system can balance the highest stick?'
Three wheels. Although it is much heavier, which is important.
Truly awesome
You have my respect; has DARPA been in contact yep?
Slack line! Will it balance on a string?
:) Need to try...
@@ReMRC I see a problem string will react, so oscillations may occur.
Brilliant, amazing
good job bro 👍👌
Please tell me the practical application of this
So a kids gyroscope will also maintain an angle, but I guess this also maintains a heading as well?
In this case I not maintains heading.
interesting! how much is the degree angle that it falls out of balance and cannot stabilize. if it is small then it just balances and does not adjust the slope. good start continue.
Impressive ‼️ 👍😊
Keep one in top of one to see how the reaction works will it balance ? Without falling
Would the one on the right not represent one Qbit
Cool :) Is this a PID regulation algorithm?
Is it possible to minimize the energy consumption by improving the quality of the regulation system?
LQR. Possible to reduce somewhat.
@@ReMRC
Wow cool
It's quite difficult to create them.
It is very interesting whether it is possible to achieve such accuracy so that there are almost no movements
i don't know
may be a matter of the measurement-feedback frequency
Maybe a time lag system
Or maybe these are the inaccuracies of the model in LQR (after all, it cannot be ideal)
Interesting to compare with PID on the same device :)
@@science_horizonts Higher accuracy is possible. My algorithm is too simple. The PID would also work, there would be no big difference
How can the contraption know where to aim its 0° reference line straight through our planet's center of gravity? That's some neat shit 👍
And which one is better?
Accelerometers are a good way of knowing that. They usually have 3 axis. If one of them points straight towards the ground, or towards Earth center of gravity, that the axis should show 1G acceleration, while the other two, which are now parallel to the ground, should show 0G. There might be some other ways of determining this, but this is the way I could imagine going for from the top of my head.
@@CattleCluj Thanks for having taken the time to respond. I really enjoyed watching the trials 👍
Dont worry bro.. it started recomending
Is there a significant advantage to the 3-wheel design? As 2 seems more cost-effective.
3-wheel I tried before this ruclips.net/video/sT9be_IoEw8/видео.html
Would something like this on industrial scale help with earthquakes?
I don't know. Maybe someone would be able to adapt.
Did you simply 3D print and buy all components and then implemented the paramaters (weights, dimensions, positions etc.) in the code and make it work by coding or did you have to precisely plan the dimensions and weight of the wheels and chasis before making them?
I don't exactly plan for dimensions and weight. I have developed many similar robots and gained a lot of experience. Everything is done by trial and error.
This is what is actually inside the useless box
Lovley video, what control algoritm did you use? And are you using a estinator to estimate aplied torque? Did you design the controller with the system model? Thanks :D
No, I don't design the controller with the system model. Everything is simpler than you think. :)
@@ReMRC it always seems that way right? xD Do you have a blog or some publication about this project? Woyld love to have a read :)
@@Richard-vj3vs In this time only another two videos about it.
nice bro, saludos desde colombia
saludos desde Peru!
Can it balance at a constant angle or does it need to be perpendicular to the surface? Can they control yaw?
If change the center of mass it can change the angle. The yaw can be controlled with 3 wheels. ruclips.net/video/qGbiZseBd_o/видео.html
Awesome!
beautiful