Implementation of AU balancing ballbot (AUB<sup>3</sup>

摘要

This paper discusses on the AU Balancing BallBot or known as AUB <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> . AUB <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> in a structure of robot is using three Omni wheels, which drive by stepper motors. Accelerometer and Gyroscope are used as main sensors. PIC24FJ48GA002 is used as a main controller. An intelligent complimentary filter with PD control algorithm is used to control AUB3 to be in balanced position. The controller is proven on the prototype of AUB <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> . AUB <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> obtains it stability on the ball without falling off.