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Design and parametric control of co-axes driven two-wheeled balancing robot

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Abstract

Robots can be seen in our daily life. Recently, robotic applications and their wide range of functionalities have drawn many engineers’ attentions. Two-wheeled balancing robots are typical example of autonomous robots that are basically unstable and free to fall forward or backward. Using only two wheels for these types of robot provide lighter weight and smoother maneuver. A physical robot was designed and built. Then robot’s specifications were observed for mathematical modeling and simulation. Lagrangian approach was used to generate the ordinary differential equations (ODEs) of system. An initial assumption was made to linearize the system and state-space model of system was developed. A full state feedback (FSF) control was designed to stabilize the unstable system. There are some robot’s characteristics that are directly engaged with behavior of system. Therefore, parameter studies were done to choose the right constants to optimize the system’s performance. Sensors were calibrated before integrating with robot and microcontroller was programmed to implement the control unit.

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Authors and Affiliations

  1. Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu, Taiwan

    Hamid Reza Memarbashi & Jen-Yuan Chang

Authors
  1. Hamid Reza Memarbashi
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  2. Jen-Yuan Chang
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Correspondence to Jen-Yuan Chang.

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Memarbashi, H.R., Chang, JY. Design and parametric control of co-axes driven two-wheeled balancing robot. Microsyst Technol 17, 1215–1224 (2011). https://doi.org/10.1007/s00542-010-1213-7

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  • DOI: https://doi.org/10.1007/s00542-010-1213-7

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