TFG

Dynamic Modelling and Velocity Control of a Two-wheeled Inverted Pendulum Robot

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Information

  • Started: 10/02/2022
  • Finished: 18/07/2022

Description

With the advancement of Industry 4.0, mobile robots are being applied to more and more relevant tasks, in areas such as exploring unfamiliar environments, inspecting and monitoring infrastructure, finding and rescuing people, or transporting and handling loads, among others. In this project we will focus on the modeling and control of two-wheeled inverted pendulum robots (or twinbots for short). Although these robots must be actively stabilized to prevent them from tipping over, they have several advantages over stable robots with more wheels: they can rotate around a point without moving, they can compensate external force disturbances that would tip over a conventional robot, and they can achieve taller and slimmer geometries while being stable. Along the project, we will see how the kinematic and dynamic models for a twinbot can be obtained, we will go over the design of a control system that, using the dynamic model, stabilizes the robot in the upright position along a trajectory defined in real time, and we will end up validating the robustness of this control by applying force disturbances while the robot is trying to follow a defined trajectory.

The work is under the scope of the following projects:

  • KINODYN+: Synthesis of Optimally Agile and Graceful Robot Motions (web)