Development and control of a stick robot using three reaction wheels | |
| Author | Matee Vadrukchid |
| Call Number | AIT Thesis no.ISE-22-04 |
| Subject(s) | Robots--Control systems Robots--Motion |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | A prototype stick robot control system is proposed in this study, which is based on the inverted pendulum concept and a reaction wheel. The robot can sustain itself in an upright position by applying three reaction wheels to keep it from falling over. Normally, this robot's behavior is unsteady, preventing it from standing straight. A mechanical design, control circuit design, and control design are all required. The robot's body is designed in such a way that the center of gravity point is as close to the robot's center as feasible. Included is the design of the control circuit, which allows the processing speed to respond to the stick robot's balance. The optimum control algorithm is used to build the control system. This control method attempts to minimize the cost related to the robot's angle as much as possible. It leads to the error values of the degree for the robot being extremely low. Another feature of this study is the discovery of the stick robot's dynamic model. In previous research, the stick robot's dynamic model has no coupling effect to other axes. However, this research identifies a dynamic model of a robot that has coupling effects and can be used to describe the robot's behavior in terms of an equation. Finally, the stick robot is able to stand on its own. A dynamic model with a coupling effect could be used to design a control system. The angle in the x-direction has an error band for the angle in the x-direction is 0.1343 degrees. It has a 0.2-second settling time. It also has 0.0011 degrees and 0.0335 degrees for mean square error and root mean squared error. The error band for the angle in the y-direction is 0.1186 degrees. It takes 0.14 seconds to settle time and has a mean square error of 0.0008 degrees. It has 0.0278 degrees for the root mean squared error. This approach provides a lot of control potential. |
| Year | 2022 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bora, Tanujjal |
| Scholarship Donor(s) | His Majesty the King's Scholarships (Thailand) |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2022 |