밸런싱 메커니즘을 이용한 이륜형 자동차 형태의 이동로봇개발 : BalBOT Ⅶ
Development of Two Wheeled Car-like Mobile Robot Using Balancing Mechanism : BalBOT Ⅶ
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초록
This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.
Abstract
This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.
참고문헌 (7)
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- R. O. Ambrose, "Mobile manipulation using NASA’s robonaut", pp.2104~2109 (2004), IEEE ICRA
- K. Pathak, "Velocity and position control of a wheeled inverted pendulum by partial feedback linearization", IEEE Trans. on Robotics, 21, pp.505~513 (2005)
- SeongHee Jeong, "Wheeled Inverted Pendulum Type Assistant Robot : Inverted Mobile, and Sitting Motion", pp.2007, IEEE