Digital Stabilizing and Control for Two-Wheeled Robot

2019 ◽  
pp. 237-253
Author(s):  
Bachir Nail ◽  
Abdellah Kouzou ◽  
Ahmed Hafaifa
Keyword(s):  
Wheeled Robot ◽  
And Control

scholarly journals Research and development of Q-Baller -- a spherical wheeled robot

2017 ◽  
Author(s):  
◽  
Jiamin Wang
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Circuit Board ◽  
Embedded Control ◽  
Wheeled Robot ◽  
Dynamics And Control ◽  
Continuous Gain Scheduling ◽  
Machine Interface ◽  
And Control ◽  
And Robotics

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to ahieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future.

scholarly journals Comprehensive Development and Control of a Path-Trackable Mecanum-Wheeled Robot

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 18368-18381 ◽  
Author(s):  
Joe Siang Keek ◽  
Ser Lee Loh ◽  
Shin Horng Chong
Keyword(s):  
Wheeled Robot ◽  
Comprehensive Development ◽  
And Control

scholarly journals Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

2020 ◽  
Vol 5 (12) ◽  
pp. 24-33
Author(s):  
Eric Gratton ◽  
Mbadiwe Benyeogor ◽  
Kosisochukwu Nnoli ◽  
Oladayo Olakanmi ◽  
Liam Wolf ◽  
...  
Keyword(s):  
Structural Integrity ◽  
Mechanical Design ◽  
Element Analysis ◽  
Active Suspensions ◽  
Modeling And Analysis ◽  
Drive Mechanism ◽  
Wheel Drive ◽  
Wheeled Robot ◽  
Mathematical Equations ◽  
And Control

For a robot to navigate in terrains of rough and uneven topographies, its drives and controllers must generate and control large mechanical power with great precision. This paper is aimed at developing an autonomous robot with active-suspensions in form of a hybrid quadrupedal-wheel drive mechanism. This involves a computational approach to optimizing the development cost without compromising the system’s performance. Using the Solidworks CAD tool, auxiliary components were designed and integrated with the bed structure to form an actively suspended robot drive mechanism. Also, using the S-Math Computing tool, the robot’s suspension system was optimized, employing a four-bar mechanism. To enhance the compatibility of this design with the intended controller, some mathematical equations and numerical validations were formulated and solved. These included the modeling of tip-over stability and skid steering, the trendline equations for computing the angular positions of the suspension servomotors, and the computation of R2– values for determining the accuracy of these trendline equations. Using finite element analysis (FEA), we simulated the structural integrity of key sub-components of the final structure. The results show that our mechanical design is appropriate for developing an actively suspended robot that can efficiently navigate in different terrestrial sites and topographies.

Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems

2009 ◽  
Vol 147-149 ◽  
pp. 31-34
Author(s):  
Maryna P. Mukhina
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Control Algorithm ◽  
Kinematics And Dynamics ◽  
Wheeled Mobile Robots ◽  
Wheeled Robot ◽  
Navigation And Control ◽  
Monitoring And Surveillance ◽  
Robotic Vehicle ◽  
And Control

Monitoring and surveillance by means of mobile robots are of great importance in a number of various applications. The level of technology and science development is high enough to use robotic vehicle for monitoring in dangerous or hard-to-reach areas, for continuous surveillance of large industrial objects, in military purposes. The main problems in this area are navigation and control of vehicle. The majority of articles are dedicated to problems of motion control of wheeled mobile robots with two or three wheels [1-2]. As to four-wheeled mobile robots its kinematics and dynamics are considered in [3].

Modeling and path-tracking control of a mobile wheeled robot with a differential drive

Robotica ◽  
1995 ◽  
Vol 13 (4) ◽  
pp. 401-410 ◽  
Author(s):  
R. M. DeSantis
Keyword(s):  
Tracking Control ◽  
Linear Time ◽  
Path Tracking ◽  
Modeling And Control ◽  
Differential Drive ◽  
Linear Time Invariant ◽  
Wheeled Robot ◽  
And Control ◽  
Time Invariant ◽  
Kinematic Properties

SummaryTopics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

ROS Based, Simulation and Control of a Wheeled Robot using Gamer’s Steering Wheel

2018 ◽  
Author(s):  
Rajesh Kannan Megalingam ◽  
Deepak Nagalla ◽  
Ravi Kiran Pasumarthi ◽  
Vamsi Gontu ◽  
Phanindra Kumar Allada
Keyword(s):  
Steering Wheel ◽  
Wheeled Robot ◽  
Simulation And Control ◽  
And Control

Analysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
T.-J. Yeh ◽  
Tzu-Hsiang Weng
Keyword(s):  
Steering Wheel ◽  
Algebraic Operation ◽  
Successful Operation ◽  
Steering Angle ◽  
Differential Drive ◽  
Lead Angle ◽  
Wheeled Robot ◽  
Inclination Angles ◽  
State Force ◽  
And Control

Abstract This article presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot considered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting motor, and a steering wheel. The mechatronic design allows the robot to easily press against the inner wall and spiral along pipelines of arbitrary inclination angles. Kinematic analysis shows how the lead angle of the differential-drive wheels and the steering angle should be coordinated so as to achieve stable spiraling. The steady-state force analysis further gives an analytic expression for the threshold torque needed for supporting the robot at different inclination angles. To ensure successful operation of the robot, four control systems that respectively regulate the spiraling speed, the lifting torque, the steering angle, and the lead angle are devised. Particularly for the lead angle control, it is theoretically proved that the feedback measurement can be obtained by performing algebraic operation on signals from a multi-axis gyro. A prototype robot is constructed and is controlled based on the analysis results. Experiments are conducted to verify the robot’s performance on moving spirally in pipelines of different inclination angles.

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