Advertisement

Balance Control of a Variable Centroid Inverted Pendulum Robot

  • Gang Wang
  • Sang Yong Lee
  • Seok Won Kang
  • Jang-Myung Lee
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)

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.

Keywords

angle compensation inverted pendulum variable centroid Segway 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Nguyen, H.G., Morrell, J., Mullens, K., Burmeister, A., Miles, S., Farrington, N., Thomas, K., Gage, D.W.: Segway Robotic Mobility Platform. In: SPIE Proc. Mobile Robots XVII, Philadelphia, PA, October 27-28, vol. 5609 (2004)Google Scholar
  2. 2.
    Grasser, F., D’Arrigo, A., Colombi, S.: JOE: A Mobile, Inverted Pendulum. IEEE Transactions on Industrial Electronics 49(1), 107–114 (2002)CrossRefGoogle Scholar
  3. 3.
    Baloh, M., Parent, M.: Modeling and Model Verification of an Intelligent Self-Balancing Two-Wheeled Vehicle for an Autonomous Urban Transportation System. In: The Conference on Computational Intelligence, Robotics and Autonomous Systems, Singapore, December 15 (2003)Google Scholar
  4. 4.
    Oryschuk, P., Salerno, A., Al-Husseini, A.M., Angeles, J.: Experimental Validation of an Underactuated Two-Wheeled Mobile Robot. IEEE/ASME Transactions on Mechatronics 14(2), 252–257 (2009)CrossRefGoogle Scholar
  5. 5.
    Kuindersma, S.R., Hannigan, E., Ruiken, D., Grupen, R.A.: Dexterous Mobility with the uBot-5 Mobile Manipulator. Advanced Robotics, 1–7 (2009)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Gang Wang
    • 1
  • Sang Yong Lee
    • 1
  • Seok Won Kang
    • 1
  • Jang-Myung Lee
    • 1
  1. 1.Department of Electrical EngineeringPusan National UniversityBusanKorea

Personalised recommendations