Ball-Balancing Robot Yaw Posture Control via Sensor Error Correction
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Solution Overview
Problem
Ball-balancing robots face challenges in accurately controlling posture when rotated about a vertical axis due to displacement of posture-detection sensors from their intended position and orientation, leading to inaccurate detection of angular velocities and instability during yaw rotation.
Innovation Solution
Incorporating yaw-direction, roll-direction, and pitch-direction angular velocity sensors to detect and correct angular velocity errors, allowing the robot main body to maintain a predetermined posture by adjusting for sensor inclination and calculating corrected angular velocities to stabilize yaw rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot main body is provided with ornamental elements, a posture-detection sensor, a battery, a control device, and the like, then the robot main body can be functionally complete, but it becomes difficult to position the gravity center on its axial line
Solution Approach 1:
The invention separates the gravity center positioning function from the sensor mounting positioning. The gravity center is positioned on the vertical axis through careful arrangement of heavy components (battery, control device), while the posture-detection sensor is mounted on the robot main body without requiring precise alignment with the gravity center. This segmentation allows functional completeness while maintaining gravity center positioning accuracy.
2Ease of manufacture
If the posture-detection sensor is positioned and oriented according to the robot main body's axial line, then the sensor mounting is simplified, but the sensor detects inaccurate posture when the robot rotates about the vertical axis
Solution Approach 1:
The invention uses feedback from multiple angular velocity sensors (yaw-direction, roll-direction, and pitch-direction sensors) to detect the robot's actual posture during rotation. The control device processes this feedback information and generates correction commands to compensate for the sensor displacement, thereby maintaining accurate posture detection despite the simplified mounting arrangement.
Solution Approach 2:
The invention changes the detection parameters by introducing multiple angular velocity sensors oriented in different directions (yaw, roll, pitch). Instead of relying on a single sensor with precise orientation, the system uses multiple sensors with simpler mounting requirements and processes their combined signals to achieve accurate posture detection during rotation.
3Ease of operation
If the robot main body rotates about the vertical axis with the gravity center positioned on that axis, then the robot can rotate in the yaw direction, but the displaced posture-detection sensor detects components in different directions leading to inaccurate posture control
Solution Approach 1:
The invention makes the posture detection system universal by implementing it with multiple angular velocity sensors that can detect motion in any direction (yaw, roll, pitch). This multi-functional sensor arrangement allows the system to accurately detect posture during yaw rotation despite the sensor being displaced from the gravity center, thereby maintaining reliability while enabling easy yaw rotation operation.
Data Source
AI summary
A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle θp), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.