A master thesis from Aalborg University
Real World Development and Test of a Mobile Hybrid Robot Platform.
Author(s)
Term
4. semester
Education
Publication year
2022
Submitted on
2022-05-27
Pages
86 pages
Abstract
This project investigates how to design and construct a hybrid robot between a car and a Segway such that it allows the transition between the two modes of operation by producing a swing-up motion and balancing it on an inverted pendulum state. A testing scenario simulation has been developed to be able to test designs and features before trying them out in the real world. The simulation also has been used to obtain an estimation of the characteristics of the needed motors, which has been gotten as close as possible within the price and availability limitations. After testing, it has been proven that it is possible to perform a swing-up motion after achieving a certain velocity and that it is possible to stabilize the robot on an inverted pendulum state using different control systems, such as they can be PID, simple state feedback, or LQR. And it is shown that it is a good start in the development of this technology but it needs refinement and optimization on the design and part selection to be able to perform optimally and be able to be used in a real world scenario that would need this kind of robot.
This project investigates how to design and construct a hybrid robot between a car and a Segway such that it allows the transition between the two modes of operation by producing a swing-up motion and balancing it on an inverted pendulum state. A testing scenario simulation has been developed to be able to test designs and features before trying them out in the real world. The simulation also has been used to obtain an estimation of the characteristics of the needed motors, which has been gotten as close as possible within the price and availability limitations. After testing, it has been proven that it is possible to perform a swing-up motion after achieving a certain velocity and that it is possible to stabilize the robot on an inverted pendulum state using different control systems, such as they can be PID, simple state feedback, or LQR. And it is shown that it is a good start in the development of this technology but it needs refinement and optimization on the design and part selection to be able to perform optimally and be able to be used in a real world scenario that would need this kind of robot.
Keywords
mobile robotics ; lqr ; pid ; state feeedback ; simulation ; gazebo ; ustepper
Documents
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