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Balance Control of a Variable Centroid Inverted Pendulum Robot

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

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Abstract

A basic problem has been found in two wheels inverted pendulum based mobile manipulator. It is difficult to keep balance as the manipulator operates and it is necessary to find a method to resolve it. This research presents a simple and feasible method for this kind of problem. It involves a common PD control and a method to calculate the compensatory angle for a variable centroid inverted pendulum robot. A 4 DOF mobile manipulator based on inverted pendulum has been developed to analyze the problem, and a simulation is also used to certify the method in this research. The experiment and its results show the performance of the method. It is possible to make the robot keep balance by using the compensatory angle even though the position of centroid is time variant.

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Authors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, Jangjeon2-dong, Geumjeong-gu, Busan, 609-735, Korea

    Gang Wang, Sang Yong Lee, Seok Won Kang & Jang-Myung Lee

Authors
  1. Gang Wang
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  2. Sang Yong Lee
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  3. Seok Won Kang
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  4. Jang-Myung Lee
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Corresponding author

Correspondence to Gang Wang .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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© 2013 Springer-Verlag Berlin Heidelberg

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Wang, G., Lee, S.Y., Kang, S.W., Lee, JM. (2013). Balance Control of a Variable Centroid Inverted Pendulum Robot. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_19

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  • DOI: https://doi.org/10.1007/978-3-642-33926-4_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33925-7

  • Online ISBN: 978-3-642-33926-4

  • eBook Packages: EngineeringEngineering (R0)

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