Abstract
This study presents the motion control of a real time two wheeled balance robot capable of moving back and forward, turning right and left and video streaming via IP (Internet Protocol) camera on it. A C++ based visual user interface is created on PC (Personal Computer) in order to control of the designed Two Wheeled Mobile Balance Robot (TWMBR). By means of the interface, all controller parameters of the robot can be changed via wireless communication module on it. Moreover, the robot’s tilt angle with respect to time, linear displacement and controller output can be observed simultaneously. Within the robot control interface, the videos from IP camera is transferred into the operator screen via TCP/IP (Transmission Control Protocol/Internet Protocol) communication protocol. So, the robot can be controlled via arrow keys and visual interface on PC remotely by an operator. Acceleration and gyro sensors are fused by means of a real-time Kalman Filter so that robot can keep its balance in both moving and stable state in the designed system. Thus, an accurate tilt angle control is realized. Classic PID (Proportional-Integral-Derivative) algorithm is used as robot controller. In conclusion, via IP camera on the robot, the real-time motion control is performed and data diagrams about motion control are obtained.
Highlights
2.1 The Hardware of the Balance RobotBecause that the robot has a nonlinear structure a suitable mechanic structure should be built to be able to have a stable equilibrium point
This study presents the design of video streaming Two Wheeled Mobile Balance Robot (TWMBR) and its real-time motion control algorithms
Classic feedback PID controller structure was used in order that the robot keeps itself in upright position stably and the operator provides it’s the motion control
Summary
Because that the robot has a nonlinear structure a suitable mechanic structure should be built to be able to have a stable equilibrium point. STM32F103RBT6 development board, which has Cortex M3 based microprocessor and controls the whole robot system, was used. On the mid-layer there is dual serial DC motor controller board and an adjusted voltage regulator. MATEC Web of Conferences angle change, displacement data of the right and left wheel and controller output during moving and stable state of the robot were obtained via the interface
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