Please use this identifier to cite or link to this item: https://lib.uet.vnu.edu.vn/jspui/handle/123456789/2175
Title: DESIGN AND IMPLEMENT A BALANCING ROBOT BASED ON PRINCIPLE OF INVERTED PENDULUM
Authors: Hoàng Ngọc Chung
Issue Date: 2013
Abstract: The objective of this project is to design and implement a two-wheeled self-balancing robot based on the theory of the balancing inverted pendulum. Configuration of parallel wheels makes robot to be compact enough for manoeuvring through most pedestrian spaces that accommodate wheel chairs. The system is built based on the theory of the balancing inverted pendulum and using Newton’s law as well as mechanics of solid with calculating data gotten form modern sensors like gyroscope, accelerometer, encoder sensors. In this project, the PID process (Proportional Integral Derivative) and complementary filter are also used to upgrade the system’s quality. The robotic system has been designed and simulated in the Matlab-Simulink and implemented with mechanical details, sensors and electronic controlling circuits. In the beginning steps, results show that calculations are believe and model is feasible.
URI: https://lib.uet.vnu.edu.vn/jspui/handle/123456789/2175
Appears in Collections:Khóa luận Khoa Vật lý kỹ thuật và Công nghệ Nano

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