How Do You Verify Equations for a Balancing Robot?

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In summary, the conversation discusses building a balancing robot and the writer's concerns about the accuracy of their mechanical equations. They provide a link to a similar robot and ask for someone to check their equations. They also mention that their initial attempt at solving the problem was incorrect.
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Homework Statement


I am building a balancing robot like the one here:
http://www.geology.smu.edu/~dpa-www/robo/nbot/

It's basically a body mounted on two wheels and its purpose is to control the motors as to keep the wheels under the center of mass and therefore keep the body in an upward position.

I wrote the mechanical equations for the body and for the wheels separately, but I am not sure if they are correct. I need someone to check them, please.

Homework Equations


Are the equations in the attached photos correct?

The Attempt at a Solution


<see the attached photos>
 

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Last edited:
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Scraping the J x Theta derived twice x ...
from the first two equations in the first pic.

Those were wrong.



Are there any other mistakes?
 

Related to How Do You Verify Equations for a Balancing Robot?

1. What is a balancing robot equation?

A balancing robot equation is a mathematical representation of the forces acting on a robot in order to maintain its balance. It takes into account factors such as the robot's mass, center of mass, and external forces acting upon it.

2. Why is it important to balance a robot?

Balancing a robot is important because it allows the robot to remain stable and upright, which is essential for it to perform tasks accurately and safely. Without proper balance, a robot may tip over or lose control, resulting in potential damage or injury.

3. How do you determine the appropriate balancing robot equation?

The appropriate balancing robot equation can be determined by analyzing the physical properties of the robot, such as its size, shape, and weight, as well as the environment it will be operating in. Calculations and experiments may also be necessary to fine-tune the equation for optimal balance.

4. Can balancing robot equations be applied to different types of robots?

Yes, balancing robot equations can be applied to different types of robots as long as the physical properties and external forces acting on the robot are taken into account. The equation may need to be adjusted for each specific type of robot and its intended use.

5. Are there any limitations to balancing robot equations?

There may be some limitations to balancing robot equations, as they are based on simplified models and assumptions. Factors such as changing environmental conditions, unexpected obstacles, or malfunctions in the robot's components may affect the accuracy of the equation. Continuous monitoring and adjustments may be necessary for optimal balance.

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