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1  Topics / Robotics / Re: Making a robotic arm automonous on: September 05, 2011, 12:23:06 pm
You could use RoboRealm® that should make the vision problem easier with interface for both c# and arduino.

2  Topics / Robotics / Re: Balancing robot for dummies on: May 21, 2011, 12:31:20 am
Check out the new maple out http://www.sparkfun.com/products/10664.

12-bit ADC resolution (ADC)
15 PWM pins at 16-bit resolution (PWM)

Should improve the resolution of the angle reading and the motor output a lot..
3  Topics / Robotics / Re: Balancing robot for dummies on: May 08, 2011, 11:41:23 pm
@prof_jazz

Nice progress I will also try with the bigger and heavier tiers. I'm currently rebuilding the frame to get It a little higher and get space for a 4x20 LCD and some potentiometers. Then I will remove all the the jumper cables and the breadboard..

I don't know if you had any musics in your youtube clip but it's blocked in Sweden do to Sony Music Entertainment (SME). If you have music in the clip could you post another without music?
4  Topics / Robotics / Re: Balancing robot for dummies on: May 05, 2011, 02:29:00 pm
@jraskell
I agree that it will significantly lower the battery life but It would be nice to see the bot perform without the backlash that I currently have with my DC-motors.. 
5  Topics / Robotics / Re: Balancing robot for dummies on: May 04, 2011, 02:32:30 pm
I haven't had the time to look at your code yet but it sounds like your having the same problems that I have..

I have no problem getting my robot to balance but it's shaking a lot and I think it's manly to the backlash.
You can see it in the video blow if you look closely you will see the shaking..


I have recently seen that I may have a problem with my IMU which the zero point is moving after a will and that I also think is do to the shaking and mess up the kalman filter..

My next step is to change the motors to the stepper motors below:
#1200 Stepper Motor: Unipolar/Bipolar, 200 Steps/Rev, 42x48mm, 4V, 1200mA
#1182 A4988 Stepper Motor Driver Carrier

6  Topics / Robotics / Balancing robot for dummies on: May 03, 2011, 12:36:43 am
After some request I decided to start up a new topic to continue the two previous topics made by @Kas. Where the discussion and support of building balancing robots can continue..



Heres the previous topics that now are read only:
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1282384853/all
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1284738418/all

All information and some source code are hosted here: http://www.x-firm.com/?page_id=145

Robots built using the guide or parts of it: http://www.x-firm.com/?page_id=284

All initially information of the Balancing robot for dummies was provided by @Kas and I half to tank him to inspired me to finally start building a balancing robot that I had planed to do for so long.
7  Community / Exhibition / Gallery / Re: Self Balancing arduino robot directly controlled with a Wiimote on: April 16, 2011, 03:43:18 pm
@prof_jazz your not far away just continue to trim your parameters..

Heres my second bot haven't gotten the time to trim it to perfection yet but it's close any how..

Youtube link

How do you add youtube videos on this forum?

More info here..
8  Community / Exhibition / Gallery / Re: Self Balancing arduino robot directly controlled with a Wiimote on: April 11, 2011, 08:08:00 am
Hello guys

My second robot is starting to get ready but i think I will add one PID for each motor that will try to keep the setpoint speed in (deg/sec). To try to get the motors to behave as equal as possible.. Also have a fuzzy logic control to order the motors to compensate for the error in angle. What do you guys think about that? (One PID for each motor)

I also want to add a better calibration of the sensors then in my old one that was based a lot on Kas code. Something like needing to tilt it 180 deg laing it on the floor then making a sound and then tilting it -180 deg to the other side. Then calculate the calibration values from those two positions or letting the user hold the robot in some more positions may be?

I will post some pictures of my bot this week on my blog.. I also want to integrate a display and some pots for debugging with out the need of a GUI..
9  Topics / Robotics / Re: Using fuzzy logic (Balancing robot for dummies) on: April 06, 2011, 02:44:35 pm
I'm sorry for my late response but I have been away working so my bot has been standing a while but now I will take it up again. I will rewrite the hole PID part for my bot and also give it two separate PID controls for each motor that will try to keep a exact speed coming from a fuzzy logic control. Check my blog or here for updates..
10  Topics / Robotics / Re: Using fuzzy logic (Balancing robot for dummies) on: February 04, 2011, 02:37:22 pm
I have added a view of the fuzzy controller input variables and output as it could look if you had a GUI to a future fuzzy controller in arduino..

You can see the updated one here
11  Topics / Robotics / Using fuzzy logic (Balancing robot for dummies) on: February 02, 2011, 07:28:58 am
I would like to go one step further with the Balancing robots for dummies project and implement fuzzy logic on it.

More info about Balancing robot for dummies

And I have now successfully created a fuzzy logic controller using Processing.

My test case was getting an object avoiding obstacles when given order to move to specific target..

You can try it here

The input variables was simple angle and distance.

Fuzzy sets for inputs:

Angel to obstacle:
smallAngle
mediumAngle
largeAngle

Distance to obstacle:
smallDist
mediumDist
largeDist

Instead of using linguistic rules I used something called FAMM(Fuzzy associative memory matrix) and that only work in a 2 input, 1 output scenario.

   smallAngle   mediumAngle   largeAngle
smallDist   90°   55°   35°
mediumDist   55°   35°   25°
largeDist   35°   25°   5°

Then defuzzification is done true weighting the relationships in the FAMM..
 
I will improve some parameters of the controller and optimize it a little before I try It on my balancing robot..

Are there any one how have experience of Fuzzy logic and are some other ones interested in this topic?


12  Using Arduino / Programming Questions / Re: Alt + f4? on: January 30, 2011, 12:11:59 pm
May be you could  make the Arduino simulate a HID device...
http://www.practicalarduino.com/news/id/161
13  Forum 2005-2010 (read only) / Troubleshooting / Re: 5DOF + Inverted Pendulum = Problems on: September 26, 2010, 07:42:23 am
Like this smiley-grin
14  Forum 2005-2010 (read only) / Development / Re: Library Problem on: January 21, 2011, 01:35:19 am
I'm looking for a fuzzy logic library or code to getting me started with fuzzy logic. Have you finished the library? Could I get it?
15  Forum 2005-2010 (read only) / Exhibition / Re: Balancing robot for dummies on: January 23, 2011, 08:02:30 am
I think the problem with brush less motors is that they don't like low speeds where they will consume a lot amps..  
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