Abstract
This study introduces a two-wheeled self-balancing mobile robot based on a control moment gyroscope module. Two-wheeled mobile robots are able to achieve better mobility and rotation in small space...
Highlights
Wheeled mobile robots have a significant advantage over humanoid type robots, in that they are faster and can more change direction while moving, and this makes them very useful for a number of applications
In order to observe the effect of the control moment gyroscope (CMG) module, two experiments were carried out where the Kookmin University segWAY (KUWAY) maintained balance against a disturbance
Even though performance was improved by applying the CMG module, the effect of disturbances was not entirely eliminated and the KUWAY was still moved by the disturbances
Summary
Wheeled mobile robots have a significant advantage over humanoid type robots, in that they are faster and can more change direction while moving, and this makes them very useful for a number of applications. It consists of the balancing controller for the two-wheeled self-balancing robot and the CMG controller reducing the effect of disturbances in order to keep a position. The CMG module of the KUWAY operates the gimbal motor using the PID controller, based on feedback regarding the disturbance, as measured by the observer. In order to observe the effect of the CMG module, two experiments were carried out where the KUWAY maintained balance against a disturbance. The red line indicates that the maximum torque of the wheel motor was only 35 Nm when the CMG module was used with the balancing controller. The radius of flywheel is increased for higher torque generated by CMG module
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