Development and control of a two-wheeled balancing robot with an arm | |
| Author | Wijesinghe, Vidula D.R.E. |
| Call Number | AIT Caps. Proj. no.ME-17-13 |
| Subject(s) | Robots--Wheels Robots--Control systems |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-17-13 |
| Abstract | The inverted pendulum is a unique and intriguing concept that arouses the curiosity of numer- ous researches as it exhibits an unstable nature. With the rapid advancement in technology it is not surprising that there has been the surge of interest in the mobile inverted pendulum robot from control system researchers globally. With global attention there is no better time for development and improvement within this branch of mobility. This report presents the development and control of a two-wheeled balancing robot based on the inverted pendulum concept with an arm. The robot, capable of moving forwards and backwards, is remote con- trolled which allows the user to control the arm at will. The mobile structure is capable of picking and placing objects within reach of the arm, which is a one-degree of freedom arm with an end effector. Using data through Digital Motion Processor (DMP) fusion and a PID controller the robot is designed to remain upright with high stability. |
| Year | 2017 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-17-13 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Than Lin;Mongkol Ekpanyapong; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2017 |