Balancující robot pro podporu výuky zpětnovazebních systémů

Abstract

This thesis focuses on the design and development of two wheeled balancing robot, which serves as supporting task for teaching of feedback control systems. As part of this work a system was developed that utilizes both conventional and modern control algorithms, such as PID, LQR and Fuzzy logic, to maintain stability at the operating point. The robot is designed with an emphasis on modularity and flexibility, allowing it to be used with three different control platforms while ensuring easy disassembly and maintenance. Another part of this thesis involved designing 3D models of mechanical components for manu- facturing using 3D printing technology, as well as developing a printed circuit board for the imple- mentation of the electronic system.