tag:blogger.com,1999:blog-2897599524681320173.post3888957995360163784..comments2012-09-29T00:00:59.236-05:00Comments on Geekspiel: Assembling the self-balancing robotBill Hensleyhttp://www.blogger.com/profile/06590194120523861924noreply@blogger.comBlogger2125tag:blogger.com,1999:blog-2897599524681320173.post-7279963700037745322009-03-08T17:41:00.000-05:002009-03-08T17:41:00.000-05:00Yes! If you recall from my first post a few weeks ...Yes! If you recall from my first post a few weeks ago, I am going to try to get away without using a gyro, unlike most designs. One of the ways I hope to compensate is by basing the control strategy on a a physics model. So I want to do something like you suggest, but I don't know exactly how to go about it. That's why I'm going to need the help of my control engineer friends. (Hint, hint...) At work I think I have Tom sufficiently intrigued to help, and also perhaps Hong.Bill Hensleyhttps://www.blogger.com/profile/06590194120523861924noreply@blogger.comtag:blogger.com,1999:blog-2897599524681320173.post-22690583359378106192009-03-08T16:27:00.000-05:002009-03-08T16:27:00.000-05:00There must be a better way to clean up the acceler...There must be a better way to clean up the accelerometer data than using a simple average. Maybe you can keep a running estimate of what the robot "thinks" the accelerometer should read based on its recent motor movements and such. You could combine that estimate with the instantaneous data from the accelerometer using a <A HREF="http://en.wikipedia.org/wiki/Kalman_filter" REL="nofollow">Kalman filter</A> to improve your estimate of the current acceleration. <BR/><BR/>Of course, all this takes processor time and space, so you'd have to be careful about the complexity of the acceleration model. I suspect you need a physics model like this to drive the wheels anyway. The only new thing to add is the update scheme.<BR/><BR/>Its also uber-cool to be using mathematics that is commonly (?) referred to as "linear quadratic estimation"!Robhttps://www.blogger.com/profile/12953251818466792517noreply@blogger.com