A ROBUST FEEDBACK CONTROLLED SELF BALANCING ROBOT

Publication Date : 13/03/2016


Author(s) :

MRS. SAMANA JAFRI , Sohrab Shah , SHAAZAAN BAGASRAWALA , Zeeshan Shaikh.

Volume/Issue :
Volume 2
,
Issue 3
(03 - 2016)

Abstract :

The research on balancing robot has been increased over the last decade in a number of robotics research laboratories around the world. Due to the unstable dynamics of the system such robots have a lot of ability to balance on its two wheel and is also capable to twirl on the spot. This additional maneuverability allows easy navigation on various area, turn sharp corners and cover small steps . These type of robots capabilities to solve a number of problems of in industry and society. An futuristic use of this robot a motorized wheelchair utilizing this technique would give the user greater skillful movement and thus access to places where most able-bodied people take for granted. Such robots build can help humans to travel short distance in small area or factories where as to car buggies which is more polluting The robot utilizes a Proportional-Integral-Derivative (PID) controlled differential method used for steering trajectory control. A gyroscope and accelerometer is used to measure the tilt from the center position of the robot and the encoders on the motors to measure the wheel’s rotation.

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