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Development of a two wheels inverted pendulum mobile robot

The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develo...

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Main Authors: Nawawi, Sophan Wahyudi, Ahmad, Mohamad Noh, Shah Osman, Johari Halim
Format: Conference or Workshop Item
Published: 2007
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/13898/
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spelling my.utm.138982017-09-14T03:00:41Z http://eprints.utm.my/id/eprint/13898/ Development of a two wheels inverted pendulum mobile robot Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Shah Osman, Johari Halim TJ Mechanical engineering and machinery The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, modeling and control scheme was addressed and discussed. The system is then tested using a well-known pole-placement state feedback controller to verify its functionality. 2007 Conference or Workshop Item PeerReviewed Nawawi, Sophan Wahyudi and Ahmad, Mohamad Noh and Shah Osman, Johari Halim (2007) Development of a two wheels inverted pendulum mobile robot. In: 2nd Regional Conference on Engineering Education , 2007, Johor.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Nawawi, Sophan Wahyudi
Ahmad, Mohamad Noh
Shah Osman, Johari Halim
Development of a two wheels inverted pendulum mobile robot
description The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, modeling and control scheme was addressed and discussed. The system is then tested using a well-known pole-placement state feedback controller to verify its functionality.
format Conference or Workshop Item
author Nawawi, Sophan Wahyudi
Ahmad, Mohamad Noh
Shah Osman, Johari Halim
author_facet Nawawi, Sophan Wahyudi
Ahmad, Mohamad Noh
Shah Osman, Johari Halim
author_sort Nawawi, Sophan Wahyudi
title Development of a two wheels inverted pendulum mobile robot
title_short Development of a two wheels inverted pendulum mobile robot
title_full Development of a two wheels inverted pendulum mobile robot
title_fullStr Development of a two wheels inverted pendulum mobile robot
title_full_unstemmed Development of a two wheels inverted pendulum mobile robot
title_sort development of a two wheels inverted pendulum mobile robot
publishDate 2007
url http://eprints.utm.my/id/eprint/13898/
_version_ 1643646291048136704
score 13.159004

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