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Robo equilibrista (na rampa)

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Uploaded by on Sep 22, 2008

O desempenho do Filtro de Kalman foi excelente!!! a estimativa do angulo está perfeita. Os sensores usados foram o ADXL202 e o ADXRS300 ambos do fabricante Analog Devices. Os controladores não receberam ajustes finos ainda, mas já estão apresentando reaultados satisfatórios. O processador utilizado foi da linha dsPIC e motores PITTMAN dirigidos por L6203. my two-wheeled inverted pendulum.

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