TY - GEN
T1 - Design and evaluation of two-wheeled balancing robot chassis
T2 - 2011 International Symposium on INnovations in Intelligent SysTems and Applications, INISTA 2011
AU - Ferdinando, Hany
AU - Khoswanto, Handry
AU - Purwanto, Djoko
AU - Tjokro, Stefanus
PY - 2011
Y1 - 2011
N2 - Two-wheeled balancing robot is one of interesting nonlinear plant. The goal is to control the robot so that it can move with only two wheels. This paper elaborates the design and evaluation of its chassis. The chassis is constructed with Lego Mindstorm NXT and controlled by the AVR ATMega16 microcontroller. The system uses MX2125 accelerometer sensor from Parallax to evaluate the robot chassis. Two chassis design, i.e. model A and B are developed. From the experiments, it is shown that robot chassis design must address the mechanically stable issue. Therefore chassis model A is discarded. PD controller is recommended for this chassis model B. The chassis also considers the flexibility to mount such a load. Mounting load under the axis helps to stabilize the chassis. This makes the controller design easier. The load position opens the further research topic. Using Lego Mindstorm is very helpful in design and evaluation of mechatronics set up.
AB - Two-wheeled balancing robot is one of interesting nonlinear plant. The goal is to control the robot so that it can move with only two wheels. This paper elaborates the design and evaluation of its chassis. The chassis is constructed with Lego Mindstorm NXT and controlled by the AVR ATMega16 microcontroller. The system uses MX2125 accelerometer sensor from Parallax to evaluate the robot chassis. Two chassis design, i.e. model A and B are developed. From the experiments, it is shown that robot chassis design must address the mechanically stable issue. Therefore chassis model A is discarded. PD controller is recommended for this chassis model B. The chassis also considers the flexibility to mount such a load. Mounting load under the axis helps to stabilize the chassis. This makes the controller design easier. The load position opens the further research topic. Using Lego Mindstorm is very helpful in design and evaluation of mechatronics set up.
KW - MX2125
KW - chassis
KW - the AVR microcontroller
KW - two-wheeled balancing robot
UR - http://www.scopus.com/inward/record.url?scp=79961175833&partnerID=8YFLogxK
U2 - 10.1109/INISTA.2011.5946132
DO - 10.1109/INISTA.2011.5946132
M3 - Conference contribution
AN - SCOPUS:79961175833
SN - 9781612849195
T3 - INISTA 2011 - 2011 International Symposium on INnovations in Intelligent SysTems and Applications
SP - 514
EP - 518
BT - INISTA 2011 - 2011 International Symposium on INnovations in Intelligent SysTems and Applications
Y2 - 15 June 2011 through 18 June 2011
ER -