The Kinematics Model of a Two-Wheeled Self-Balancing Autonomous Mobile Robot and Its Simulation

He, Bin; Liu, Zhen; Feng, Lv Hai

doi:10.1109/iccea.2010.169

Cited by 28 publications

(10 citation statements)

References 5 publications

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“…Mekanikal lengan UR5 yang digunakan memiliki enam derajat kebebasan. Permasalah forward kinematics nya telah diselesaikan dan lengan UR5 menggunakan sistem model parameter DH yang ditunjukkan pada Gambar 1 [20][21].…”

Section: Model Mekanikal Lengan Ur5unclassified

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Analisa Kesalahan Trajektori dan Algoritma Solusi Invers pada Robot Lengan Berdasarkan Jaringan QACA-RBF

Farouq¹,

Fani²,

Muhaimin³

2020

COMPLETE

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Dalam rangka meningkatkan akurasi posisi dan trajektori dari robot lengan UR5, algoritma solusi invers pada robot lengan berdasarkan jaringan QACA-RBF diajukan. Desain algoritma ini menggunakan model prediksi melalui jaringan saraf dan menggunakan algoritma koloni semut kuantum untuk mengoptimalkan bobot keluarannya. Dalam memecahkan masalah ini, algoritma koloni semut kuantum memiliki presisi konvergen yang rendah dan mudah jatuh ke dalam solusi local optimal dalam algoritma solusi invers dari derajat kebebasan pada robot lengan, maka peningkatan pengukuran seperti local optimasi dan batas maksimum minimum feromon dan variasi dibutuhkan. Dengan membandingkan hasil simulasi dari hasil simulasi robot lengan UR5 dan hasil simulasi berdasarkan jaringan saraf ACA, QACA, dan RBF untuk mendapatkan posisi dan gerak trajektori pada titik ruang dengan kepresisian disetiap algoritma. Dengan skema tersebut agar dapat membuktikan kelayakan algotirma jaringan QACA-RBF.

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Section: Model Mekanikal Lengan Ur5unclassified

“…, , pada matrik ini merepresentasikan posisi dari bagian akhir manipulator pada sistem koordinat dasar. Sudut RPY Euler dapat dijelaskan dengan rumus berikut [21][22][23]:…”

Section: Model Mekanikal Lengan Ur5unclassified

Analisa Kesalahan Trajektori dan Algoritma Solusi Invers pada Robot Lengan Berdasarkan Jaringan QACA-RBF

Farouq¹,

Fani²,

Muhaimin³

2020

COMPLETE

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“…Autonomous navigation with postural stability is rather a challenging task in case of two-wheeled inverted pendulum robot. As the mechanical structure of two-wheeled robots is statically unstable, their system behavior and control scheme cannot be achieved by establishing the kinematic model only (Chhotray et al , 2016; Bin et al , 2010). Therefore, state space representation following linearization of the nonlinear dynamic model has been represented using different methods; such as Kane’s method, Lagrangian and Newton–Euler method by various researchers (Grasser et al , 2002; Kim and Kwon, 2015; Peng et al , 2012; Li et al , 2007).…”

Section: Introductionmentioning

confidence: 99%

Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot

Parhi

Chhotray

2018

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Purpose This paper aims to generate an obstacle free real time optimal path in a cluttered environment for a two-wheeled mobile robot (TWMR). Design/methodology/approach This TWMR resembles an inverted pendulum having an intermediate body mounted on a robotic mobile platform with two wheels driven by two DC motors separately. In this article, a novel motion planning strategy named as DAYANI arc contour intelligent technique has been proposed for navigation of the two-wheeled self-balancing robot in a global environment populated by obstacles. The developed new path planning algorithm evaluates the best next feasible point of motion considering five weight functions from an arc contour depending upon five separate navigational parameters. Findings Authenticity of the proposed navigational algorithm has been demonstrated by computing the path length and time taken through a series of simulations and experimental verifications and the average percentage of error is found to be about 6%. Practical implications This robot dynamically stabilizes itself with taller configuration, can spin on the spot and rove along through obstacles with smaller footprints. This diversifies its areas of application to both indoor and outdoor environments especially with very narrow spaces, sharp turns and inclined surfaces where its multi-wheel counterparts feel difficult to perform. Originality/value A new obstacle avoidance and path planning algorithm through incremental step advancement by evaluating the best next feasible point of motion has been established and verified through both experiment and simulation.

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“…The research on a two-wheel inverted pendulum, which is commonly known as the self-balancing robot, has gained momentum over the last decade in a number of robotic laboratories [1][2][3][4]. The dynamics of such a system are quite complex, so its motion planning presents a challenge [5][6].…”

Section: Introductionmentioning

confidence: 99%

Design and PID control of two wheeled autonomous balance robot

Ünlütürk¹,

Aydoğdu²,

Guner³

2013

2013 International Conference on Electronics, Computer and Computation (ICECCO)

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In this study, a two-wheeled autonomous balance robot has been designed and implemented practically. A visual computer interface based on Qt-Creator has been created. Thanks to the computer interface, different control algorithms can be performed on the robot easily, control parameters can be set up online, filter algorithms in various structures can be tried and the reaction of these changeable values to the system can be observed. The effects of some controllers such as Proportional (P), Proportional-Integral (PI), Proportional-Integral-Derivative (PID) on developed robot have been viewed successfully. Kalman Filters have been used for a stable control of the system and it has seen that the system can balance itself for a long time with optimum PID control parameters obtained.

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The Kinematics Model of a Two-Wheeled Self-Balancing Autonomous Mobile Robot and Its Simulation

Cited by 28 publications

References 5 publications

Analisa Kesalahan Trajektori dan Algoritma Solusi Invers pada Robot Lengan Berdasarkan Jaringan QACA-RBF

Analisa Kesalahan Trajektori dan Algoritma Solusi Invers pada Robot Lengan Berdasarkan Jaringan QACA-RBF

Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot

Design and PID control of two wheeled autonomous balance robot

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