Design and build of a balancing platform

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

This document is a master's degree final thesis about the design and realization of a ball balancing platform. The main goal of the project is to present the techniques, approaches and base knowledge of building and operating such a device. Throughout the project all the components are as universal and easily procurable as possible in order to make a useful material for those who are interested in building robots like this.

The thesis lists the components that are used and presents a unique approach to link them. It also deals with the design of a circuitry improving the performance of the used resistive touch panel that functions as the sensor. To construct the mathematical model of the system identification and Euler-Lagrange equation is used. It is then used to design controllers for the system. To validate the designs, closed-loop simulations are performed in MATLAB Simulink environment. The project concludes with the implementation of the algorithm to the microcontroller by using dedicated Matlab Simulink toolboxes.


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