Synchronizing of Stabilizing Platform Mounted on a Two-Wheeled Robot

Autor:	Sajal Chandra Banik, Mohammad Rubaiyat Tanvir Hossain, Mohammad Rabiul Islam
Rok vydání:	2021
Předmět:	Microcontroller Motor controller Artificial Intelligence Control and Systems Engineering Computer science Inertial measurement unit Control theory Robot Synchronizing PID controller Servomotor DC motor
Zdroj:	Journal of Robotics and Control (JRC). 2
ISSN:	2715-5072 2715-5056
DOI:	10.18196/jrc.26136
Popis:	This paper represents the designing, building, and testing of a self-stabilizing platform mounted on a self-balancing robot. For the self-stabilizing platform, a servo motor is used and for the self-balancing robot, two dc motors are used with an encoder, inertial measurement unit, motor driver, an Arduino UNO microcontroller board. A PID controller is used to control the balancing of the system. The PID controller gains (Kp, Ki, and Kd) were evaluated experimentally. The value of the tilted angle from IMU was fed to the PID controller to control the actuated motors for balancing the system. For the self-stabilizing control part, whenever the robot tilted, it maintained the horizontal position by rotating that much in the opposite direction.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::984db4f7ddd62109fe2adad6c04d5ce0 https://doi.org/10.18196/jrc.26136 Zobrazit plný text záznamu