Control and implementation of a single wheel holonomic vehicle
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Fecha
2013Autor(es)
Puerta Ramírez, RafaelPublicador
Pontificia Universidad Javeriana
Facultad
Facultad de Ingeniería
Programa
Maestría en Ingeniería Electrónica
Título obtenido
Magíster en Ingeniería Electrónica
Tipo
Tesis/Trabajo de grado - Monografía - Maestría
COAR
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Citación
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Abstract
This paper proposes a robot balanced on a ball. In contrast to an inverted pendulum with two wheels, such as the Segway. The robot proposed in this paper is equipped with three omnidirectional wheels with DC motors that drive the ball and two sets of rate gyroscopes and accelerometers as measurement sensors. The robot has a simple design. Inverted pendulum control is applied in two axes for stabilization, and commanded motions are converted into velocity commands for the three wheels. The mechanism, control method, and experimental results described in this paper.
Temas
RobóticaVehículos - Innovaciones tecnológicas
Maestría en ingeniería electrónica - Tesis y disertaciones académicas
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