Balancing a spherical inverted pendulum on omnidirectional wheels mobile robot | |
| Author | Rattapan Pitaksongkram |
| Call Number | AIT Thesis no.ISE-22-14 |
| Subject(s) | Mobile robots Robots--Wheels |
| 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 | n 520 In this study, balancing the spherical inverted pendulum is the main purpose. The control system for the three omnidirectional wheels mobile robot prototype is proposed to balance this type of pendulum. The mechanical design, electronics design, and control system are required to activate this robot. It can move in the x-y axis direction without turning clockwise or counterclockwise to keep the pendulum upright. Changing the pendulum tilt angle from the upright position is the disturbance that the system must handle. This system uses three DC motors for each wheel movement, three encoders as a sensor for each wheel, and the IMU sensor to sense the spherical inverted pendulum tilt angle. The distance and velocity of each wheel and the pendulum rod’s tilt angle and angular velocity from the sensors are used as the input for the STM32 controller to calculate the voltage for all three motors to move the platform of the mobile robot for balancing the spherical inverted pendulum. The optimum control algorithm is designed as the control system. This control system was invented based on a 2-DOF joint inverted pendulum with two external forces. These forces are applied along the x-y axis directions for the platform movement. The Actual Model cannot be used to balance the spherical inverted pendulum because of the spherical inverted pendulum sensor problem. Therefore, this model is changed to be a one-axis inverted pendulum. Furthermore, the Simulation Model is designed to accomplish the main purpose of this study. Finally, these two models can be used to balance the inverted pendulum. |
| 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) | Royal Thai Government Fellowships |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2022 |