Development of a self balanced robot and its controller

Garg, Sushil (2010) Development of a self balanced robot and its controller. BTech thesis.

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Abstract

Two wheeled balancing robots are based on inverted pendulum configuration which relies upon dynamic balancing systems for balancing and maneuvering. This project is based on the development of a self-balanced two wheeled robot which has a configuration similar to a bicycle. These robot bases provide exceptional robustness and capability due to their smaller size and power requirements. Outcome of research in this field had led to the birth of robots such as Segway, Murata boy etc. Such robots find their applications in surveillance & transportation purpose. Here, in particular, the focus is on the electro-mechanical mechanisms & control algorithms required to enable the robot to perceive and act in real time for a dynamically changing world. Using an Ultrasonic sensor and an accelerometer we get the information about the tilt of the robot from its equilibrium position. Balancing was done using a servo motor, a DC motor and a control momnt gyroscope. While these techniques are applicable to many robot applications, the construction of sensors, filters and actuator system is a learning experience.

Item Type:	Thesis (BTech)
Uncontrolled Keywords:	Robot, two-wheeled, ultrasonic sensor, fuzzy, self-balanced, accelerometer, PID
Subjects:	Engineering and Technology > Mechanical Engineering > Mechatronics Engineering and Technology > Mechanical Engineering > Robotics
Divisions:	Engineering and Technology > Department of Mechanical Engineering
ID Code:	1853
Deposited By:	Mr. Sushil Garg
Deposited On:	19 May 2010 10:45
Last Modified:	11 Jun 2010 14:49
Supervisor(s):	Parhi, D R