Two-Wheel Balancing Robot Foot Plate Control Using Series Elastic Actuator

Autor:	Jang-Myung Lee, Yeongkeun Kwon, Jinuk Bang
Rok vydání:	2020
Předmět:	Series (mathematics) Computer science Control (management) Personal mobility Tire balance 020302 automobile design & engineering 02 engineering and technology Footplate 020303 mechanical engineering & transports 0203 mechanical engineering Control theory Robot Actuator Foot (unit)
Zdroj:	Intelligent Robotics and Applications ISBN: 9783030666446 ICIRA
DOI:	10.1007/978-3-030-66645-3_28
Popis:	Controlling foot plate on two-wheel balancing robot, system can compensate outer force and it makes system safer. Compared to a wide usage of personal mobility, it has large possibility of getting accident. So, system proposed in this paper attached Series Elastic Actuator (SEA) between robot body and foot plate to control foot plate and it can deal with several situations. The experiment conducts with 20 kg weight on the right side of footplate. The result of experiment shows that system can compensate the outer force. We expect that controlling foot plate can deal well with hard driving situations (uneven road drive, high speed curve drive, etc.).
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::582a8371de711438613c176119189d0a https://doi.org/10.1007/978-3-030-66645-3_28 Zobrazit plný text záznamu