한국생산제조학회 학술지 영문 홈페이지

Current Issue

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29 , No. 3

[ Special Issue : Engineering Design of ADBL ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.202-209
Abbreviation: J. Korean Soc. Manuf. Technol. Eng.
ISSN: 2508-5107 (Online)
Print publication date 15 Jun 2020
Received 12 Mar 2020 Revised 06 May 2020 Accepted 07 May 2020
DOI: https://doi.org/10.7735/ksmte.2020.29.3.202

스스로 일어나는 세그웨이 형태의 밸런싱 로봇의 설계 및 제작
김기현a, * ; 김진우a ; 김지호a ; 임충혁a

Design and Control of Segway-type Balancing Robot that can Stand up
Ki-Hyeon Kima, * ; Jin-woo Kima ; Ji-Ho Kima ; Chung-Hyuk Yima
aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology
Correspondence to : *Tel.: +82-2-970-6345 E-mail address: chyim@seoultech.ac.kr (Chung-Hyuk Yim).

Funding Information ▼

Abstract

StuntBike is a robot that can stand up on its own using only the torque of the motor. Unlike previous works, StuntBike has the form of a tricycle with unstable characteristics on the pitch axis to achieve standing-up actions with a small torque. As a control scheme, we utilize a 3-stage cascade proportional-integralderivative (PID) controller which outperforms a conventional 1-stage PID controller in terms of control performance. Based on the proposed design, we demonstrated the feasibility of standing-up action and attitude control from the simulation. Next, we present the control result from experiments, which suggests that stand-up action and attitude control is possible. Furthermore, we discuss some factors that impact the performances of the system and an overview of supplementary work.


Keywords: Inverted pendulum, Cascade control, PID control, Time delay, Nonlinear effect

Acknowledgments

본 연구는 서울과학기술대학교 교내 일반과제 연구비 지원으로 수행되었습니다.


References
1. Su, X., Xia, F., Liu, J., Wu, L., 2018, Event-triggered Fuzzy Control of Nonlinear Systems With its Application to Inverted Pendulum Systems, Automatica, 94 236-248.
2. Jian, J., Meiling, W., Ningyi, L., Yi, Y., Z. Kuan, Z., Yu, L., Tong, L., 2014., Standing-up Control and Ramp-climbing Control of a Spherical Wheeled Robot, 13th International Conference on Control Automation Robotics & Vision (ICARCV): IEEE, 1368-1391.
3. Gajamohan, M., Merz, M., Thommen, I., D’Andrea, R., 2012, The Cubli: A Cube That Can Jump Up and Balance, IEEE/RSJ International Conference on Intelligent Robots and Systems, 3722-3727.
4. Ruiken, D., Cummings, J. P., Savaria, U. R., Sup, F. C., Grupen, R. A., 2017, Ubot-7: A Dynamically Balancing Mobile Anipulator With Series Elastic Actuators, IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 676-682.
5. Nagarajan, U., Mampetta, A., Kantor, G. A., Hollis, R. L., 2009, State Transition, Balancing, Station Keeping, and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot, IEEE International Conference on Robotics and Automation, Kobe, 998-1003.
6. Ding, Y., Gafford, J., Kunio, M., 2012, Modeling, Simulation and Fabrication of a Balancing Robot, Harvard University, Massachusettes Institute of Technology, 151.
7. Campbell, S. A., Crawford, S., Morris, K., 2008., Friction and the Inverted Pendulum Stabilization Problem, Journal of Dynamic Systems, Measurement, and Control, 130:5 054502.
8. Khalaf, P., Richter, H., 2019, Trajectory Optimization of Robots With Regenerative Drive Systems: Numerical and Experimental Results, IEEE Transactions on Robotics, 36:2 501-516.

Ki-Hyeon Kim

B.Sc candidate in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine / Control.

E-mail: rlgus1394@gmail.com

Jin-Woo Kim

B.Sc candidate in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine.

E-mail: kjwh004@gmail.com

Ji-Ho Kim

B.Sc candidate in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine.

E-mail: jck1461@naver.com

Choong-Hyuk Yim

Professor in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine / Control.

E-mail: chyim@seoultech.ac.kr