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Development of a two wheels inverted pendulum mobile robot

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.

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Abstract

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.

Item Type:Conference or Workshop Item (Paper)
Additional Information:The 5th Student Conference On Research And Development-SCORed 07
Uncontrolled Keywords:pendulum, mobile robot
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:13898
Deposited By: Mrs Liza Porijo
Deposited On:15 Aug 2011 05:52
Last Modified:14 Sep 2017 03:00

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