Development of segway with pick and place robot | |
| Author | Reddy, Mummadi Vamsi Kumar |
| Call Number | AIT Thesis no.ISE-20-15 |
| Subject(s) | Robotics PID controllers |
| 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 | The field of robotics, the two-wheel mobile with robotic arm has the potential to perform wide range of applications. Balancing of the system becomes a bothering task due to the highly unstable nature of the system. Nonlinear model of wheeled, two-wheel mobile with robotic arm is developed using Lagrange’s equations by considering the dynamics of wheel and links. Control method for balancing the two wheeled balancing robots with robotic arm using PID controller is also designed in the work. The PID control methods are developed from complete dynamic equation of the robotic arm to make self-sustaining vertically. PID is implemented in system for achieving tracking control also. Simulations are performed to check the validity of the proposed controller in raspberry pi environment. Settling time and maximum deviation from desired value required to achieve stability of the system. |
| Year | 2020 |
| 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) | Abeykoon, A.M. Harsha;Keun, Song Weon |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2020 |