(single-degree-of-freedom pole balancing, started 1978)
Mechanical characteristics:
Vehicle dimensions: ~ 430 x 280 x 100 mm
vehicle mass: 8.1 kg
torque of motor: 3 Nm
max. acceleration: ~ 8 m/s2 ≈ 0.8 g (g = Earth gravity)
wheel diameter: 108 mm
mass of poles: 45, 90, 180 grams
One rotational dof in vertical plane; axle for mounting the rod (pole) parallel to vehicle axles;
Length L of poles (Φ = 12 mm): o.5, 1, and 2 m; (2 m leading to stable vibrations as seen in the left sub-image; measurement of pole position near the node points)
Eigenfrequencies of balanced rigid poles:
[1.12 Hz = 7.0 rad/s for L = 0,3 m]
0.86 Hz = 5.4 rad/s for L = 0,5 m
0.61 Hz = 3.8 rad/s for L = 1,0 m
0.43 Hz = 2.7 rad/s for L = 2,0 m.
Video – PoleBalancing 1984
A.1 Pole balancing
References
Meissner HG (1982): Steuerung dynamischer Systeme aufgrund bildhafter Informationen. Dissertation, UniBwM / LRT. Kurzfassung
Meissner HG, Dickmanns ED (1983). Control of an Unstable Plant by Computer Vision. In T.S. Huang (ed): Image Sequence Processing and Dynamic Scene Analysis. Springer-Verlag, Berlin, pp. 532-548
Wuensche HJ (1988). Bewegungssteuerung durch Rechnersehen. Dissertation. LRT, UniBwM. Kurzfassung