Great project but I cannot find any formula relating the angles of the servo shafts to the angle of the platform. Can you kindly supply these. So if the angle of the servos are Tz,Tb,Tc, what formula relates these to Px and Py where Px and Py are the platform x and y angles?
How far can those sensors detect objects? Can they work at say 2-3 metres distance?
No, but in the software there is information about that. I think it best that people try to work a few things out for themselves as part of the learning process.
Could be that either your Gyro is not centred properly - must lie flat or that you have a small offset on the gyro which you need to trim out. Each Gyro will have a slightly different offset and to get it vertical you need a trim adjust pot.
You use state-space control? ie state-feedback? Or is it PID.
Hi StuartI suppose naming is something we could argue about but I am not too bothered what people call it! It is a pendulum in that it pivots about the wheels upside down. It cannot stay in the same place, it has to move horizontally. In text books it is normally called inverted pendulum on a cart. Variations are shown in most control-engineering text books. I would settle for Inverted Pendulum on a cart but remember in this case the cart has only two wheels. In many text books the cart has four wheels.
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