DocumentCode
2622389
Title
LabVIEW and CRIO Linear Control of a Coaxial Two-wheeled Mobile Robot
Author
Tian, Yingzhong ; Jiang, Liangyin ; Ming, Li ; Bin, He
Author_Institution
CIMS & Robot Center, Shanghai Univ., Shanghai, China
Volume
2
fYear
2011
fDate
6-7 Jan. 2011
Firstpage
463
Lastpage
466
Abstract
This paper introduced a mobile robot named SHUBot that could balance its driver on two coaxial wheels base on Lab VIEW and CRIO. For Linear control, the feedback matrix K was obtained by Lab VIEW simulation and the control program was written in Lab VIEW FPGA (Field Programmable Gate Array) module. At FPGA platform, the CRIO was done to prove the control capabilities of real-time. Some examinations were done to verify the dynamic behavior of SHUBot based on the Lab VIEW and CRIO.
Keywords
control engineering computing; field programmable gate arrays; linear systems; mobile robots; programmable controllers; virtual instrumentation; wheels; CRIO linear control; LabVIEW FPGA module; LabVIEW simulation; SHUBot; coaxial two-wheeled mobile robot; feedback matrix; Control systems; Field programmable gate arrays; Mathematical model; Mobile robots; Real time systems; Wheels; CRIO; LabVIEW; Linear control; Real-Time control; Self-balance;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location
Shangshai
Print_ISBN
978-1-4244-9010-3
Type
conf
DOI
10.1109/ICMTMA.2011.402
Filename
5721220
Link To Document