The invention of robots has immensely made the life of humans easier than ever. With the use of robots, many tasks which humans are not able to perform are being able to be delivered with the use of robots. The mode of transport in the last few decades has increased the inclusion of autonomous vehicles and robotics applications. The two-wheeled inverted pendulum is mainly called Self Balancing Robot. The major application seen commercially is Segway. Segway is a concept application of the Inverted Pendulum type Self-Balancing Robot. Self-Balancing robot here has two wheels in contrast to four-wheeled which are stable when it is in motion. In this paper, we are simulating the motion of the Tilter so that it is not unstable and falls. In this paper, a controller is developed to keep the tilt angle as minimal as possible. Controller models are generated and implemented with the use of Simulink and the Multibody Mechanics is generated by importing the CAM model from SolidWorks environment to Simscape and connecting the feed values of RPM to the wheels. And tilt angle is also taken from the Model to Simscape to simulate it.


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    Title :

    Controller design for a self balancing robot


    Contributors:

    Publication date :

    2019-12-01


    Type of media :

    Miscellaneous


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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