Development of Two-Wheeled Self-stabilizing Mobile Platform
[ 1 ] Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ 2 ] Instytut Technologii Mechanicznej, Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ S ] student | [ P ] employee
2022
chapter in monograph / paper
english
- Inverted pendulum
- Mobile platform
- Complementary filter
- Selfstabilizing robot
EN The article describes development of a two-wheeled self-stabilizing platform which is a laboratory model of the human transport vehicle. The device operates with use of the reverse pendulum stabilization principle. The authors presented a change in its behavior along with lifting center of gravity and after mounting on the pendulum top hanging mass. For vertical stabilization, Author used a measuring system consisting of an encoders, a gyroscope and an accelerometer, to calculate actual angular position. System worked under P and PD controllers. The robot has the possibility for: balancing in point, move forwards, backwards and turn. The communication was realized with used of the smartphone dedicated application and Bluetooth interface.
25.04.2022
78 - 92
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