Design and implementation of self-balancing coaxial two wheel robot based on HSIC

Tianlian Hu; Hua Zhang; Xin Dai; Xianfeng Xia; Ran Liu; Bo Qiu

doi:10.1117/12.784207

9 January 2008 Design and implementation of self-balancing coaxial two wheel robot based on HSIC

Tianlian Hu, Hua Zhang, Xin Dai, Xianfeng Xia, Ran Liu, Bo Qiu

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67945H (2008) https://doi.org/10.1117/12.784207
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

Citation Download Citation

Tianlian Hu, Hua Zhang, Xin Dai, Xianfeng Xia, Ran Liu, and Bo Qiu "Design and implementation of self-balancing coaxial two wheel robot based on HSIC", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67945H (9 January 2008); https://doi.org/10.1117/12.784207

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