Title :
Feedback control of a self-balancing materials handling robot
Author :
Butler, Louwrens J. ; Bright, Glen
Author_Institution :
Sch. of Mech. Eng., Univ. of KwaZulu-Natal, Durban
Abstract :
The inverted pendulum problem is well-known as a good application for control engineering. An autonomous robot can use the principle of the inverted pendulum for its design. A two-wheeled robot has both static and dynamic design considerations when using the inverted pendulum principle. This paper investigates the effect of varying mass characteristics on the step response of a self-balancing materials handling robot for application in a reconfigurable manufacturing environment. This is done to determine whether an adaptive control system needs to be designed. The responses of four states for the varying mass characteristic are examined and findings are presented.
Keywords :
adaptive control; feedback; industrial robots; materials handling equipment; mobile robots; nonlinear control systems; pendulums; adaptive control system; autonomous robot; feedback control; inverted pendulum; reconfigurable manufacturing; self-balancing materials handling robot; two-wheeled robot; Control engineering; Control systems; Feedback control; Gravity; Materials handling; Mathematical model; Mobile robots; Robot sensing systems; Robot vision systems; Robotics and automation; feedback control; inverted pendulum materials handling; robotics; self-balancing;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795531