Development of a self-balancing robot with a control moment gyroscope

Abstract

This study introduces a two-wheeled self-balancing mobile robot based on a control moment gyroscope module. Two-wheeled mobile robots are able to achieve better mobility and rotation in small spaces and to move faster than legged robots such as humanoid type robots. For this reason, the two-wheeled mobile robot is generally used as a mobile robot platform. However, to maintain its balance, the two-wheeled robot needs to use movements of its two wheels. When an unexpected disturbance affects the robot, the robot maintains its balance with movements of the wheels and tilting of the body. If the disturbance exceeds the response capability of the robot, the robot will lose its stability. At the same time, the safety of the robot may be put at risk by movements to maintain balance. To address these issues, a robot was designed with a control moment gyroscope module to improve balance while minimizing movement. When a disturbance is applied to the robot, the disturbance is estimated by a disturbance observer and the control moment gyroscope controller compensates the disturbance. Using the control moment gyroscope module, the robot can maintain balance with just small movements of its wheels. Improved performance and stability were verified with experiments and simulations.

Rancang Bangun Auto Balancing Robot Menggunakan Metode Kendali PID

“…Robot dikarakterisasi dengan kemampuan penyeimbangan oleh roda dan berayun dalam titik sekitar posisi keseimbangannya. Dewasa ini, produk terkait dengan robot penyeimbang sudah dijual di pasaran dengan brand tertentu misalnya Segway, Ninebot, Anybots QB, dan lain-lain [2]. Meskipun demikian, riset seputar robot penyeimbang terus dikembangkan oleh institusi perguruan tinggi untuk kepentingan pembelajaran dan pengujian teknik pengendalian dengan metode yang lebih canggih.…”

Robot Keseimbangan Beroda Dua dengan Sistem Kontrol Keseimbangan dan Posisi Menggunakan Metode PID Bertingkat

“…Ji-Hyun Park membuat robot keseimbangan beroda dua dengan menambahkan kontrol momen giroskop sebagai alat bantu stabilisasi. Hasilnya penambahan kontrol momen giroskop dapat memberikan kompensasi pada sistem pada saat diganggu [3]. Ejaz Ahmad menerapkan metode kontrol backstepping untuk robot keseimbangan dengan dua roda [4].…”

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

“…The goal of the control system is to balance an inverted pendulum system by giving a control signal (force) to a cart that has been installed with a pendulum system [12] [13]. Some examples of inverted pendulum system applications are: balancing system in a rocket system when the rocket takes off [14], Missile Launcher [15] [16], Segway [17], balancing robots [18]- [20], humanoid robot [21]- [23], etc [24]. Some researches about inverted pendulum have been done by many.…”