Design, dynamics and control of a fast two-wheeled quasiholonomic robot

The control of wheeled mobile robots is particularly challenging because of the presence of nonholonomic constraints. Modern two-wheeled mobile robot control is further complicated by the presence of one unstable equilibrium point, which requires a continuous stabilization of the intermediate body by means of sensors. In order to simplify the control of these systems, Quasimoro, a novel two-wheeled mobile robot, is proposed. The control of Quasimoro is simplified by means of its mechanical design. The robot is designed for quasiholonomy, a property that simplifies the control of nonoholonomic systems. To further simplify the control, the robot is designed so as to have a stable equilibrium point.A nonholonomic robotic mechanical system that can be rendered quasiholonomic by control is termed, in this thesis, quasiholonomic. This is the case of Quasimoro.This work proposes a model-based design methodology for wheeled mobile robots, intended to decrease the development costs, under which the prototype is built only when the system requirements are fully met. Following this methodology, the proposed robot is then designed and prototyped.The conceptual design of the robot is undertaken by means of a detailed analysis of the most suitable drive systems and their layout. The mathematical model of the robot is formulated in the framework of the Lagrange formalism, by resorting to the concept of holonomy matrix, while the controllability analysis is conducted using modern tools from geometric control.The embodiment design entails the simulation of three virtual prototypes aimed at further simplifying the robot control. To this end, a robot drive system, based on the use of a timing belt transmission and a bicycle wheel, is designed, calibrated and tested. Due to Quasimoro's drive system, the stabilization of the intermediate body, a well-known challenge in two-wheeled mobile robot control, is achieved without the use of additional mechanical stabilizers---such as casters---or of sensors---such as gyros.The intended application of the proposed robot is the augmentation of wheelchair users, a field that tremendously benefits from the cost-effectiveness and control simplification of the system at hand. For purposes of validation, a full-scale proof-of-concept prototype of the robot is realized. Moreover, the robot functionality is demonstrated by means of motion control experiments

The System Design and Implementation of a Two-Wheeled Self-Balancing and Motion Control

随着社会的发展和科技的进步，移动机器人的应用领域愈发广泛，机器人面临的工作环境和任务需求也变得复杂多样，人们对它的要求和期待也越来越高。两轮自平衡机器人以其结构简单、运动灵活、占地空间小等优点受到了人们的重视，成为移动机器人研究领域的一个重要分支。 本文设计了一台重心位于轮轴下方的非载人两轮自平衡机器人基础运动平台。采用两轮同轴独立驱动，在运动过程中能较好地保持平衡。同时，在该运动平台上，设计实现具有一定载荷能力的稳定平台，用来搭载稳定性要求更高的设备。 本文的主要工作如下： 首先，以两轮机器人系统为研究对象，采用牛顿力学法建立系统动力学模型，将模型进行线性化处理，同时实现解耦，并对解耦...With the development of the society and the progress of science and technology, the mobile robots have been in various field, but the working environment and mission requirements also become complicated, which determines the classification of robots has been increasingly refined to meet different needs. The requirements and expectations of the people on the robots are also getting higher and highe...学位：工程硕士院系专业：航空航天学院_工程硕士(控制工程)学号：2322013115337

Aplicación de la Inteligencia Artificial al control de un robot Lego en configuración de péndulo invertido

En este trabajo se describe el diseño e implementación de la estabilización de un robot en configuración de péndulo invertido mediante la aplicación de algoritmos de control. Para ello se ha construido un sistema que consiste en un robot LEGO. Este robot debe equilibrarse sobre sus dos ruedas mientras es capaz de moverse autónomamente esquivando obstáculos. Se ha desarrollado un modelo matemático del sistema mediante las herramientas de simulación Matlab/Simulink sobre el que sea ha trabajado inicialmente. Se han aplicado técnicas de control LQR y PID para su estabilidad, implementado la sintonía inteligente de los parámetros del PID con un sistema experto. Se han implementado estas estrategias de control en el sistema real, utilizando los sensores y componentes hardware y software del lego EV3. El robot cuenta además con la habilidad de esquivar obstáculos gracias al sensor de ultrasonidos. La implementación en código ha sido programada en Java, usando el paradigma de orientación a objetos. Los resultados son satisfactorios y se ha conseguido procesar las señales de los sensores y estabilizar el robot

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

Advanced Knowledge Application in Practice

The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research

The design of innovative epicyclic mechanical transmissions : application to the drives of wheeled mobile robots

Epicyclic mechanisms have found wide applications in industry, especially in automobiles and robotics. Low efficiency due to the high gearing power occurring in an epicyclic train is an important problem. This thesis develops a novel family of epicyclic transmissions, based on cams and rollers. This kind of cam-based mechanical transmissions, Speed-o-Cam (SoC), offers features such as high stiffness, low backlash, and high efficiency.We develop multi-lobbed cam profiles, the sun cam and the ring cam, which comprise an epicyclic cam train (ECT) with the roller follower. New design criteria are established: the generalized transmission index (GTI) and the contact ratio in cam transmissions. The GTI is an index that quantifies the force transmission quality in a mechanism, thereby generalizing the pressure angle, the transmission angle, and the transmission index (TI) proposed by Sutherland and Roth in 1973. The contact ratio is an index of the quantity of overlap occurring between two conjugate cams during transmission. A contact ratio greater than unity guarantees smooth motion during operation. In order to avoid "poor" transmission, we apply an undercutting technique on the cam profile to achieve a smooth motion.We introduce two new concepts, virtual power and virtual power ratio, and derive an original algorithm to compute the efficiency in an epicyclic train upon the assumption that power loss is due only to friction upon meshing. The results show that friction has a larger effect on the total efficiency of an epicyclic train than on a simple train. Examples are given to validate this algorithm, by comparison of our results with previous works.The dual-wheel transmission (DWT), proposed elsewhere using epicyclic gear trains (EGTs), is designed here with epicyclic trains of cams and rollers. We optimize the DWT to achieve a compact design and a high transmission performance. Furthermore, we define the total transmission index (TTI), which allow us to evaluate the final DWT design. Two virtual prototypes of the DWT, the central and the offset versions, are generated: the former is capable of quasi-omnidirectional mobility, the latter of full omnidirectional mobility.Finally, we include a general kinematic analysis of wheeled mobile robots (WMRs) with single-wheel drives and apply this method to WMRs with DWT units; then, we obtain symbolic solutions to the direct kinematics (DK) and inverse kinematics (IK) problems, for both central and offset types of units