Control and implementation of a single wheel holonomic vehicle
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Date
2013Authors
Puerta Ramírez, RafaelPublisher
Pontificia Universidad Javeriana
Faculty
Facultad de Ingeniería
Program
Maestría en Ingeniería Electrónica
Obtained title
Magíster en Ingeniería Electrónica
Type
Tesis/Trabajo de grado - Monografía - Maestría
COAR
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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.
Themes
RobóticaVehículos - Innovaciones tecnológicas
Maestría en ingeniería electrónica - Tesis y disertaciones académicas
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