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smp4903 created page: Group_6_Lab_Session_5 authored by Stefan Michael Pedersen's avatar Stefan Michael Pedersen
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...@@ -65,7 +65,7 @@ The robot was able to balance for a few seconds using this configuration. Howeve ...@@ -65,7 +65,7 @@ The robot was able to balance for a few seconds using this configuration. Howeve
#### Physical Enhancements - Balance Bar #### Physical Enhancements - Balance Bar
Instead of focusing solely on the software parameters of the configuration we tried altering the physical properties of the robot by adding a balance bar. This was an attempt to move the balancepoint up and easier to locate. We used the native software setup (PID factors) to see the direct influence of the balance bar compared to the control. Instead of focusing solely on the software parameters of the configuration we tried altering the physical properties of the robot by adding a balance bar. This was an attempt to move the balancepoint up and easier to locate. We used the native software setup (PID factors) to see the direct influence of the balance bar compared to the control.
The performance can be seen in this video: [Self-balancing robot with light sensor - Balance Bar](http://1drv.ms/1NfFO2W) **The performance can be seen in this video: [Self-balancing robot with light sensor - Balance Bar](http://1drv.ms/1NfFO2W)**
It's clear that the performance is still not significantly improved, but qualitatively, the balance point was easier to locate and the robot seemed to be more steady. We hope that by combining the balance bar with optimized PID constants, we can imporve the balance time. It's clear that the performance is still not significantly improved, but qualitatively, the balance point was easier to locate and the robot seemed to be more steady. We hope that by combining the balance bar with optimized PID constants, we can imporve the balance time.
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