Motion control of two-wheel robot

Tato práce se zabývá návrhem a simulačním ověřením možností pro řízení pohybu dvoukolého balancujícího robotu. Obsahem práce je rovněž rešeršní studie zaměřená na již existující projekty.The goal of this work is to design motion control of two wheeled mobile robot. Part of this work is a literature research oriented on balancig robots design in both commercial and non-commercial sector.

Stabilization of an inverted pendulum using control moment gyros

Gyroscopes have played an important role in the science community with uses ranging from simple classroom demonstrations to cutting edge technological advancements. They offer a unique source of torque that has been proven useful in a wide range of applications. One common educational demonstration calls for a person to stand on a pivoting platform, and hold a spinning bicycle wheel with one hand on each side of the axle. As the person rotates their arms, causing precession of the bicycle tire, they begin to spin on the platform. This is due to the dynamic effect of the gyroscope and is a perfect example of a control moment gyro. This paper presents the use of control moment gyros as a compact way of dynamically controlling an inverted pendulum. The dynamic characteristics are derived for a dual-gyroscope configuration that generates torque proportional to the velocity about the gimbal axis. Classical control theory is used to design a controller that not only stabilizes the pendulum, but also controls the gyroscopes to return to a neutral steady state position. Control gains are adjusted to account for noise effects and to compensate for parameter errors, and an accelerometer is used to replace the potentiometer measuring the vertical angle. With the theory and background in place, experimental results are presented to verify the predicted response and validate the control approach. The end result is a stable system that is resilient to a broad range of external influences and erroneous measurements

Design and Control of a Two-Wheeled Robotic Walker

This thesis presents the design, construction, and control of a two-wheeled inverted pendulum (TWIP) robotic walker prototype for assisting mobility-impaired users with balance and fall prevention. A conceptual model of the robotic walker is developed and used to illustrate the purpose of this study. A linearized mathematical model of the two-wheeled system is derived using Newtonian mechanics. A control strategy consisting of a decoupled LQR controller and three state variable controllers is developed to stabilize the platform and regulate its behavior with robust disturbance rejection performance. Simulation results reveal that the LQR controller is capable of stabilizing the platform and rejecting external disturbances while the state variable controllers simultaneously regulate the system’s position with smooth and minimum jerk control. A prototype for the two-wheeled system is fabricated and assembled followed by the implementation and tuning of the control algorithms responsible for stabilizing the prototype and regulating its position with optimal performance. Several experiments are conducted, confirming the ability of the decoupled LQR controller to robustly balance the platform while the state variable controllers regulate the platform’s position with smooth and minimum jerk control

Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking

In this paper, we demonstrate methods for bipedal walking control based on the Capture Point (CP) methodology. In particular, we introduce a method to intuitively derive a CP reference trajectory from the next three steps and extend the linear inverted pendulum (LIP) based CP tracking controller introduced in [1], generalizing it to a model that contains vertical CoM motions and changes in angular momentum. Respecting the dynamics of general multibody systems, we propose a measurement-based compensation of multi-body effects, which leads to a stable closed-loop dynamics of bipedal walking robots. In addition we propose a ZMP projection method, which prevents the robots feet from tilting and ensures the best feasible CP tracking. The extended CP controller’s performance is validated in OpenHRP3 [2] simulations and compared to the controller proposed in [1]

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Study on the development of an autonomous mobile robot

Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de ComputadoresThis dissertation addresses the subject of Autonomous Mobile Robotics (AMR). It is aimed to evaluate the problems associated with the orientation of the independent vehicles and their technical solutions. There are numerous topics related to the AMR subject. Due to the vast number of topics important for the development of an AMR, it was necessary to dedicate different degrees of attention to each of the topics. The sensors applied in this research were several, e.g. Ultrasonic Sensor, Inertial Sensor, etc. All of them have been studied within the same environment. Employing the information provided by the sensors, a map is constructed, and based on this map a trajectory is planned. The Robot moves, considering the planned trajectory, commanded by a controller based on Linear Quadratic Regulator (LQR) and a specially made model of the robot, through a Kalman Filter (KF). Some of the researched topics were implemented in a real robot in an unstructured environment, collecting measurement data. A final conclusion is indicating the future direction of development

Controlling An-Inverted Pendulum System Using A Microcontroller

A self-balancing robot is basically an inverted pendulum. It can balance better if the centre of mass is higher than the wheel axels. A greater centre of mass equals a higher moment of inertia, which equals a lower angular acceleration. Particularly during movement, a well-implemented TWSB robot is able to maintain an upright stance. The majority of papers focus on either creating controllers through the implementation of low-level microcontroller units, such as Arduino Uno, or on dynamic modelling features in which simulation findings are used to decide results rather than real-world applications. This study will concentrate on comparing simulation results to the actual installation of a TWSB robot since fewer researchers have done so. This project intends to study the performance of the produced TWSB robot, examine the applicability of MATLAB to the programming of the TWSB robot, and compare the performance of the TWSB robot to the simulation results from MATLAB. Concurrently, a comparison is made between the present project and earlier work to assess the advantages and disadvantages of each. In this instance, a TWSB robot is constructed utilising an Arduino UNO microcontroller and a PID algorithm controller. The MPU 6050 gyroscope is calibrated before being mounted to the robot in order to maximise the accuracy of the acquired results by determining offset values. MATLAB is used to establish the appropriate control term values for the PID controller in order to replace the human tuning procedure and facilitate the stabilisation of the TWSB robot. According to the results, control term values of Kp = 64, Ki = 45, and Kd = 1.3 are adequate to maintain the posture of the TWSB robot, enabling it to maintain stability on a variety of surfaces, including flat and uneven surfaces, with or without the application of forces and obstructions