Balancing robot

Part 2 book "Theory of machines and mechanisms" includes content: Helical gears, bevel gears, worms, and worm gears; synthesis of linkages; spatial mechanisms and robotics; static force analysis; dynamic force analysis; vibration analysis; dynamics of reciprocating engines; balancing; flywheels, governors, and gyroscopes.

524p muasambanhan06 01-02-2024 3 2   Download

This papers presents the dynamic model of a 3D inverted pendulum model and applies to balanced motion planning for a humanoid robot. The obtained results show that the robot is able to keep balance during its movements.

10p vimarillynhewson 02-01-2024 8 4   Download

From ancient medical practices, such as herbal medications and balancing the humours, through groundbreaking work including Jenner's experiments with cowpox, which laid the basis for vaccination, The Medicine Book offers an engaging overview of medical history across the world all the way into the 21st century with gene manipulation, immunotherapy, and robotics and telesurgery.

173p haojiubujain03 09-08-2023 7 3   Download

The main purpose of this paper is to present the H - infinity controller proposed to control the ball - balancing robot. In this paper, a method of building state-space models is presented. The state - space model is built on three separate planes xy, yz and zx by applying Lagrange equations for each plane.

5p vifalcon 16-05-2023 6 6   Download

The paper proposed a balancing control for MIMO under-actuated systems. In this paper, human walking robots, the athlete robot, are researched. The dynamic equations of this model are generated by Euler Lagrange method.

9p vidoctorstrange 06-05-2023 4 1   Download

This research focuses on the observer-based controller of a balancing robot. Firstly, the dynamic model of the robot is inferred. The uncertainty of the model parameters is then introduced as constraints in state space. Practically, it is very difficult to measure state variables as velocity and acceleration.

8p vidoctorstrange 06-05-2023 8 6   Download

This paper focuses on a method of designing PD controller for a balancing robot-cart. The uncertainty of model parameters was introduced as constraints in state space. PD controller was designed through choosing Lyapunov function which was transformed by Kalman-Yakubovich-Popov lemma, a basic theoretical method based on frequency criterion.

7p vidoctorstrange 06-05-2023 11 6   Download

Rotary Inverted Pendulum (RIP) plays a vital role in control engineering. Rotary Inverted Pendulum is a complex, nonlinear, non-minimum-phase and under-actuated system which has various applications in the field of Robotics. The main contribution of this paper is to design and control RIP by using Linear Quadratic Regulator (LQR) controller for stabilization at vertically upright position - the unstable equilibrium point, and Linear Quadratic Tracker (LQT) controller for tracking the desired trajectory.

11p vicaptainmarvel 21-04-2023 8 4   Download

In this paper the authors find and optimize 3 constants in the algorithm of the PID controller. The controller can be used in the designs that have special requirements. The response of the controller can be described in terms of the sensitivity of the controller error. The error values are compared with setpoint value of the controller and the value of fluctuations of Quadcopters.

5p vijaguar 16-11-2022 4 1   Download

The paper focuses on the mechanical and control system development of a receptionist robot. This is the result of a 4-month cooperation project between FPT Global Automation Company and the participation of students in Mechatronic Engineering and Electronic & Telecommunication Engineering programs of The University of Danang, University of Science and Technology (UD-UST).

4p vichristinelagarde 04-07-2022 18 6   Download

It remains debated how much fluid should be administered during surgery. The atrial natriuretic peptide precursor proANP is released by atrial distension and deviations in plasma proANP are reported associated with perioperative fluid balance.

7p viottohahn 30-03-2022 11 4   Download

This paper presents a novel adaptive controller for two-wheeled selfbalancing mobile robots combining sliding mode control and hierarchical sliding control techniques. In addition, the radial basis function neural networks (RBFNN) are also applied to approximate the uncertain components in the system.

9p viericschmid 12-01-2022 23 3   Download

In this paper, a robust PI controller in combination with a linear quadratic regulator (LQR) is proposed to control a two-wheeled inverted pendulum robot (TWIPR) such that it is kept balanced while moving. The proposed TWIPR control system consists of two control loops. The inner loop has two PI controllers for two DC motors’ currents, which are separately designed based on a robust PI controller structure. The outer loop contains a LQR controller for the tilt angle, heading angle and position of the TWIPR.

15p 12120609 01-06-2020 26 2   Download

Self-balancing control is the basis for applications of two-wheeled robots. In order to improve the self-balancing of twowheeled robots, we propose a hierarchical reinforcement learning algorithm for controlling the balance of two-wheeled robots.

11p vivalletta2711 11-01-2020 30 3   Download

In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Two-Wheel Mobile Robot (TWMR). The TWMR is an open-loop unstable, non-linear and multi output system. The main task of this design is to keep the balance of the robot while moving toward the desired position.

7p praishy2 27-02-2019 44 3   Download

This research not only describes the design and implementation of two - wheeled self - balancing robot, but also shows how to simulate the platform in Simulink Matlab using Proportional– Integral–Derivative (PID) cascade control rule, then compares it with reality platform. A Kalman filter is used for state reconstruction in the final implementation.

8p everydaywish 24-12-2018 38 2   Download

In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

9p thienthanquydu 21-10-2018 27 0   Download

The proposed adaptive controller allows the design of a feedback control that stabilizes self-balancing control of eScooter in the presence of uncertainty and perturbation. Additionally, the sensor signals are treated by Kalman filters and the CAN networks are applied to communication among modules of eScooter. Simulation and experiment results are shown to analyze and validate the performance of proposed controller.

14p dieutringuyen 07-06-2017 39 4   Download

Tham khảo sách 'brazil forests in the balance', kỹ thuật - công nghệ, tự động hoá phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả

222p nt18105 19-05-2013 39 3   Download

In contrast, a human driver has very acute sensors: eyes for seeing things and ranging distances, force sensors to sense acceleration, and balance to sense levelness. A human expects certain things of an auto- mobile’s (car, truck, jeep, HumVee, etc.) mobility system (wheels, sus- pension, and steering) and uses those many and powerful sensors to guide that mobility system’s efforts to traverse difficult terrain. The robot’s mobility system must be passively very capable, the car’s mobil- ity system must feel right to a human....

51p loixinloi 08-05-2013 66 1   Download