UW ENGINE 2021: Spherical Drive Robotic Control

University of Washington, Seattle

01/2021 - 06/2021

Keywords: PID controller, Adafruit 6-DOF IMU sensor, Arduino, Solidworks, 3D printing, Hardware prototyping, Project lead

Role

  • Project Lead
  • Controls Engineer
  • Electrical Engineer

    • Impacts

  • Established a proof-of-concept for omnidirectional mobile robots and their applications

    • Skills

  • C programming
  • Arduino
  • Electrical system design
  • Robot kinematics
  • Solidworks

    • Descriptions

    The omnidirectional robot was equipped with an Arduino Uno as the main computing SoC. It is capable of balancing itself on top of spheres with any sizes. We implemented a PID controller with a feedback loop using Adafruit's 6-DOF IMU sensor. The chassis of the robot was 100% designed from scratch and was built from 3D printers.
    As the lead, I was responsible to organize the weekly meetings with our sponsors and faculty. I also managed the budgets and expenses and discussed concrete goals with each member every week.

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