| Author | Kanjanapan Sukvichai |
| Note | A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Abstract | In this research, a new robot, double-level mouse-mechanism ball-riding robot, is introduced. The robot consists of an upper ball-riding subsystem and a lower ball-riding subsystem. The robot’s dynamics model can be considered separately in two identical planes. Euler-Lagrange equation of motion is applied in order to obtain the dynamics model. Motors are included in the robot’s model. The model is then linearized. The robot’s parameters are identified. The robot’s prototype is manufactured and assembled. Linear Quadratic Regulator with Integral (LQR+I) controller is proposed and applied in order to balance both levels of the robot. The complementary and orientation transformation are used to fuse sensors in order to obtain robot leaning angles. Balancing performance of the developed double-level ball-riding robot is evaluated by simulations and experiments. The robot is controlled by classical and modern controllers in order to compare controller performances. The results show efficient control performance of LQR+I controller. |
| Year | 2014 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Pennung Warnitchai;Murakami, Toshiaki ; |
| Scholarship Donor(s) | Royal Thai Government;Kasetsart University; |
| Degree | Thesis (Ph.D.) -- Asian Institute of Technology, 2014 |