BOM

Videos

Conceptual design

To save on motor cost and for power efficiency I went with a  holonomic motor setup. Translation in X and Y and rotation about Z are possible with most land rovers. This can be accomplished with 3 motors if designed correctly but must use mecanum or omni wheels.

The inverse kinematics of a ball balancing robot are little different from a three omni wheel robot that does not ballance, equations for inverse kinematics are basically the same. This article provides a decent overview of those inverse kinematics .

This is a blog about creating a robot to balance on a ball and hold my beer. The idea comes from this video  and others like it. The source code and bill of materials live on github.