Design and control of a tetrahedron robot using reaction wheels | |
| Author | Thongtong Eamsaard |
| Call Number | AIT Thesis no.ISE-24-11 |
| Subject(s) | Robotics and Automation Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics and Machine Intelligence |
| Publisher | Asian Institute of Technology |
| Abstract | In this thesis, the balancing control of a Tetrahedron robot using reaction wheels is investigated. Unlike previous approaches that similar configurations could only manage roll and pitch balancing simultaneously, this study proposes a Tetrahedron robot. This design enables the reaction wheels to contribute torque to all three principal axes of roll, pitch, and yaw concurrently. This approach offers advantages in terms of compactness and eliminates the requirement for perfect alignment with the principal axes.The primary objective is to achieve stable balancing of the Tetrahedron robot in all three directions with this reaction wheels arrangement. To this end, a control algorithm to balance the robot is based on the Linear Quadratic Regulator. This controller can prioritize angle and angular velocity states of the robot, facilitating efficient control in the presence of external disturbances. Additionally, counters within the microcontroller are employed to minimize processing time and guarantee consistent cycle time for motor control adjustments.The results demonstrate successful balancing of the tetrahedron robot in roll, pitch, and yaw directions, representing a significant advancement over previous configurations. The robot exhibits rapid settling times of 2.5 and 2.62 seconds for roll and pitch disturbances with a maximum error of 6.4 and 6 degrees, respectively. Yaw control achieves satisfactory heading maintenance with maximum disturbance of 10 degrees and a 7.8-second settling time. This work contributes a tetrahedron robot design with a compact reaction wheel arrangement and an LQR-based control algorithm. This design allows the robot to achieve effective balancing performance in all three principal axes, including yaw, which was previously unachievable with similar configurations. |
| Keyword | |
| Year | 2024 |
| Type | Thesis |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics and Machine Intelligence (MMI) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Bora, Tanujjal; |
| Scholarship Donor(s) | Royal Thai Government Fellowship; |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2024 |