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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.4 No.4 pp.289-297
DOI :

밸런싱 메커니즘을 이용한 이륜형 자동차 형태의 이동로봇개발 : BalBOT VII

이 형 직1, 정 슬
1충남대학교 메카트로닉스공학과 석사, 충남대학교 메카트로닉스공학과 교수

Development of Two Wheeled Car-like Mobile Robot Using Balancing Mechanism : BalBOT VII

Seul Jung, Hyung Jik Lee1

Abstract

This paper presents the development and control of a two wheeled car-like mobile robotusing balancing mechanism whose heading control is done by turning the handle. The mobile invertedpendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusiontechnique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle ofthe inverted pendulum robot system accurately is implemented. Experimental studies of the trajectoryfollowing control task has been conducted by command of steering wheel while balancing.

Reference

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