| Stabilization of the Two-Wheel Self-Balanced Robot |
| Paper ID : 1173-IUGRC5 (R1) |
| Authors: |
|
Ahmed A. Saad * Department of Mechatronics Engineering, Pyramids Higher Institute for Engineering & Technology, 6th October, Cairo, Egypt |
| Abstract: |
| The two-wheel robot is a mobile robot moving on two side-by-side wheels that makes it naturally unstable movable device likewise the inverted pendulum (incapable to stay in the upright/erect position naturally, before it falls down). The work presented in this paper, demonstrates the construction of a two-wheel self-stabilized robot. The robot is driven by two DC motors, and equipped by an IMU sensor to sense the body inclination angle and its derivative. A PID-controller has been designed with the function to stabilize the two-wheeled robot. To do this task, the nonlinear dynamic model of the robot has been derived using the Euler-Lagrange’s equations together with the motor dynamics. The nonlinear dynamic equations have then been linearized for the sake of formulating a state space model. The value of the PID-controller gains has been tuned through several experiments. The constructed self-stabilized two-wheel robot prototype is capable of standing in an upright position without falling down and remotely controlled in a stabilized translational motion using mobile application that is wirelessly connected to the robot via Bluetooth module. |
| Keywords: |
| Robotics, Humanoids Motion Dynamics & Control, Two-Wheel Robot Stabilization |
| Status : Paper Accepted (Oral Presentation) |
