Abstract
This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle’s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM’s mathematical model is derived and simulated in Matlab/Simulink®. For stabilizing the system’s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies’ performance has been assessed.
Highlights
Considered as one of the most conventional widelyknown problems in the discipline of control, inverted pendulum (IP) systems are highly nonlinear and unstable systems that have been extensively investigated in the past decade
Mayr et al.[3] took the concept of inverted pendulum and developed a three-dimensional (3D) pendulum, known as the inertia wheel cube (IWC), which has the shape of a cube and is able to balance on Research Article Manuscript received January 20, 2018; accepted January 21, 2019; published online April 17, 2019
Despite the fact that the designed wheeled robotic machine (WRM) provided an additional degree of freedom (DOF) through the linear actuator connected to its intermediate body (IB), the workspace was still limited by the IB's extension in one single vertical direction
Summary
Considered as one of the most conventional widelyknown problems in the discipline of control, inverted pendulum (IP) systems are highly nonlinear and unstable systems that have been extensively investigated in the past decade. Different linear and nonlinear identification approaches are used to develop an accurate IP model. There has been much more interest in two-wheeled machines (TWMs). Chan et al.[1] reviewed various modeling and control methods that have been applied to both investigate and control these highly nonlinear systems
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