9 January 2008 Design and implementation of self-balancing coaxial two wheel robot based on HSIC
Author Affiliations +
Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67945H (2008) https://doi.org/10.1117/12.784207
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan
Abstract
This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.
© (2008) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Tianlian Hu, Tianlian Hu, Hua Zhang, Hua Zhang, Xin Dai, Xin Dai, Xianfeng Xia, Xianfeng Xia, Ran Liu, Ran Liu, Bo Qiu, Bo Qiu, } "Design and implementation of self-balancing coaxial two wheel robot based on HSIC", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67945H (9 January 2008); doi: 10.1117/12.784207; https://doi.org/10.1117/12.784207
PROCEEDINGS
9 PAGES


SHARE
RELATED CONTENT

Identification of a Mobile Robot Behavior
Proceedings of SPIE (February 24 1987)
Controls/optics/structures simulation development
Proceedings of SPIE (September 30 1990)
Nonlinear control of maglev positioning stage
Proceedings of SPIE (December 27 2010)

Back to Top