Toy Inverted Pendulum

[wajluk]

I'm impressed!

Could you tell me which exactly motor did you use?

I know that Tamiya 72002 High-Speed Gearbox, but which model of motor:

RE-260RA -2670 or -18130 or -2295?

Thank you for the answer!

[maru0120]

@wajluk Thanks!

The exact model number is not clear even in the manual of gearbox,

but according to the website of Pololu, the motor originally built in Tamiya 72002 High-Speed Gearbox was RE-260RA -2295.

However, I replaced the motor with RC-260 which comes with Tamiya 72001 Planetary Gearbox Kit.

RC-260 has identical shape with RE-260 but has carbon brush and higher power.

From the website, the exact model number of this motor is RC-260-SA-2295.

[wajluk]

@maru0120 Thanks for details!

I have already found the product in an E-shop.

But I've one more question, just to be sure.

The colours of the toothed bars are different: red and green (in Tamiya 72002 High-Speed)

There are yellow and orange toothed bars in yours and in Tamiya 72003 High-Power.

Could I ask your advise again? ;)

[maru0120]

@wajluk Tamiya 72002 High-Speed Gearbox contains two pairs of gears, and can be assembled in 11.6:1 and 18:1 gear ratios.

One pair is green / red, which has 18:1 reduction ratio, and the other is yellow / orange, which has 11.6:1 reduction ratio.

I used 11.6:1 setting and thus you can see yellow and orange gears. ;)

[CharonTheGreat]

It ssems juvenile, yet: I cant help but laugh imagining a lego man falling to his face after the mech. is killed. "ahhh, whered my madd balancing skills GO?!?!?!"

[BeamshipYoda]

Do you think that you might be able to balance one with solar cells as the power source? Maybe use a little tub of thick oil beneath the axle as a counterbalance, and shift that instead of the upper mass? The cpu senses the imbalance of the mass above the axle, yet instead tilts/'throws' the semi sloshable liquid just enough, accounting for how much slosh the liquid has against the upper mass?

Like how they keep that Citibank building in NYC stable with the multi ton counter weight at the top?

[umatheuma]

It's wonderful!

I made toy inverted pendulum two months ago.

But it did not stand.

Will you tell me how to make this?

[maru0120]

I made more detailed description in my blog.

And, the URL of the article is shown in the detailed info of the movie.

(The blog is written in Japanese)

I think you can see the mechanical details by the picture on the blog.

But, I think the essence of this machine is in the control law used to stabilize the system.

I will make some article on this aspect, if the circumstance permits.

[jlewis184]

@maru0120  I would be most interested in how you implemented your state estimation.

[maru0120]

@jlewis184 I used LQG control strategy, so the implemented state estimation mechanism is equivalent to the observer which is designed based on a linearized physical model of the pendulum.