NDLI: Dynamic modeling and construction of a two-wheeled mobile manipulator, part I: Self-balancing

Content Provider	IEEE Xplore Digital Library
Author	Ebrahimi, S. Mardany, A.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Yazd Univ., Yazd, Iran (Ebrahimi, S.; Mardany, A.)
Abstract	In recent years, many researchers have shown their interest on the dynamic modeling and control of two-wheeled mobile robots. In this concern, designing the self-balancing robots and reducing undesired vibrations are of great importance. For this purpose, the majority of publications are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the required level of self-balancing without applying any certain complex controller. To reach this goal, the robot structure is designed in way that its center of gravity to be located below the wheels' axle level. In the final model of the robot, the attention is more paid to obtaining a self-balancing model in which the robot's arms and other equipment follow relatively low oscillations when the robot is subjected to a sudden change. For this purpose, after assembling the robot using the Sim-Mechanics toolbox of Matlab, several simulations are arranged to investigate the robot ability in fulfilling the required tasks. Further verifications are carried out by performing various experiments on the real model. Based on the obtained results, an acceptable level of balancing, oscillation reduction, and power supply is observed.
Starting Page	164
Ending Page	169
File Size	740907
Page Count	6
File Format	PDF
e-ISBN	9781467372343
DOI	10.1109/ICRoM.2015.7367778
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-07
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Self-balancing robot Robot control Wheels Manipulators Mobile communication Stability analysis Two-wheeled mobile robot Mobile robots Mathematical model Dynamic modeling
Content Type	Text
Resource Type	Article

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