Development of a flipping mechanism for a segway robot | |
| Author | Wickramatilake, Rajapaksha M.P. |
| Call Number | AIT Caps. Proj. no.ME-18-29 |
| Subject(s) | Robots--Control systems PID controllers Pendulum |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-18-29 |
| Abstract | Self balancing inverted pendulum robots are unique mobile robots that balance upright using two wheels on a closed loop control system. However one major limitation is that they cannot stand up on its own or climb over obstacles. Although balancing robots takes lesser floor space when traversing, they can easily fall down when encountered with disturbance. Therefore this research proposes a unique way to address the above mentioned issues and make self balancing robots more flexible. The idea of a flipping mechanism is explored, en- abling the robot to stand up on its own and also climb over steps. Furthermore a more robust and stable cascade PID control system is explored for stable balancing and also disturbance compensation. |
| Year | 2018 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-18-29 |
| Type | Capstone Project |
| 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) | Than Lin ;Song, Weon Keun; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2018 |