... | ... | @@ -178,7 +178,7 @@ The robot’s struggle to balance can be due to it’s centre of gravity. As sho |
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> ![centre-of-gravity-robots (1)](http://gitlab.au.dk/uploads/group-22/lego/3d98c9c591/centre-of-gravity-robots__1_.jpg)
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> ##### Fig. 8 - Lines indicate the centre of gravity
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> One the most important factor with balancing the robots in one axis is the inverted pendulum problem.This means that the robot has its center of mass higher than its pivot point. On our robot the pivot point is the center of the wheels and while the robot is standing, the weight is distributed on top of that pivot point. Because of this, the robot is constantly unstable and the wheels have to correct for the instability. Theoretically the further away the center of mass is from the pivot point, the more stable it should be. An example of this theory is easily observable by trying to balance a broom on a finger; it is much easier to balance it when the head is on top, as the weight is higher on the other side(right side) of the pivot point as seen in fig. kost.
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> One the most important factor with balancing the robots in one axis is the inverted pendulum problem.This means that the robot has its center of mass higher than its pivot point. On our robot the pivot point is the center of the wheels and while the robot is standing, the weight is distributed on top of that pivot point. Because of this, the robot is constantly unstable and the wheels have to correct for the instability. Theoretically the further away the center of mass is from the pivot point, the more stable it should be. An example of this theory is easily observable by trying to balance a broom on a finger; it is much easier to balance it when the head is on top, as the weight is higher on the other side(right side) of the pivot point as seen in (fig. 9).
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> ![de7438cb-bbeb-43c1-9240-79e1e64a6ad0](http://gitlab.au.dk/uploads/group-22/lego/86adb8ce21/de7438cb-bbeb-43c1-9240-79e1e64a6ad0.gif)
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> ##### Fig. 9 - Center of mass at the finger
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