Mobile Inverted Pendulum System

A project for ROB 550: Robotics Systems Lab course taught in University of Michigan, Ann Arbor. An overview of this project:

Acting

• Dynamic control of DC motors to balance and control a wheeled inverted pendulum
• Trajectory Following for a mobile robot

Sensing

• Use of wheel encoders for performing odometry
• Use of MEMS IMU sensors to determine orientation (heading, pitch angle)

Design

• Build a system from the ground up based on an embedded system
• Use of Beaglebone with Robot Control Library in C for soft real-time control

The control architecture can be explained by the following figure:

Dependencies

libroboticscape

Source code for The Robot Control Library is in the folder ~/Install/librobotcontrol. Check out the website, or the github repository for how to use the functionality it provides.

Running the code

• run test_motors.c to test the motor standalone
• balancebot/balancebot.c is the main code which starts two threads, and attaches the balancebot_controller() function to the IMU interrupt.

Directories and Codebase

Files	Description
bin/	Binaries folder
balanceebot/balanceebot.c/.h	Main setup and threads
test_motors/test_motors.c/.h	Program to test motor implementation
common/mb_controller.c/.h	Contoller for manual and autonomous nav
common/mb_defs.h	Define hardware config
common/mb_motors.c/.h	Motor functions to be used by balancebot
common/mb_odometry.c/.h	Odometry functions
optitrack/	optitrack driver/server
xbee_serial	xbee serial optitrack client code

Square Lap corrected by UMBark procedure

Check out the final report for more information and results.

Collaborators

Shreyas Bhat and Saptadeep Debnath