Reaction wheel balanced robot : Design and sensor analysis of inverted pendulum robot

Abstract

Some robots can do remarkable things. Balancing something unstable is one of them. This paper covers the design of such a robot and evaluates how the sensor is affected by its position and in turn the robot's ability to balance. A robot with a reaction wheel to maintain balance was built and the sensor data was investigated. From the result one could see that the sensor placement was of importance. The best placement was the one closest to the center of the cube, far away from the reaction wheel.