Development of the two-wheeled inverted pendulum type mobile robot WV-2R for educational purposes

Abstract

The rapidly increase of personal robotic platforms and their applications in Japan represents a great challenge for universities to introduce undergraduate students the basic knowledge required to develop intelligent automated mechanisms. For this purpose; in this paper, we are presenting our approach to introduce first year undergraduate students of the Department of Modern Mechanical Engineering the basics of robotics systems. In order to foster the creativity of undergraduate students of engineering fields, we focused in developing an education tool designed to introduce at different educational levels the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot Waseda Wheeled Vehicle No. 2 (WV-2R) has been proposed. Different kinds of experiments were proposed to confirm the possibility of implementing controllers as well as changing physical properties of the system to observe differences on the response of the system. From the experimental results, we could confirm the effectiveness of the proposed systems to control the angle of pendulum respect to the body base as well as by changing the radius of the wheel.

Educational Two Wheeled Mobile Robot

“…Дидактичні моделі роботів розроблені в [1][2][3][4]. Ці роботи використовують систему управління телеоператора.…”

“…However, the developed model does not allow to modify the connection of electrical parts but contains a fixed printed circuit board PCB. Two-wheeled inverted pendulum type mobile robot for educational purposes has been developed in work [2]. Educational mobile wheeled robot with a smartphone attached was developed for practical experiments of students [3].…”

A New Dynamic Model of a Two-Wheeled Two-Flexible-Beam Inverted Pendulum Robot

“…Consequently, the translational velocity of all the elements can be obtained by applying a time derivation operator to (1) through (6).…”

“…Moving inverted pendulum systems are also used in robots for different objects. For example, Solis et al used the robot for educational purposes [6] or Double Robotics Inc made a robot for telecommuter [7]. Two steps are needed to design a proper controller for these robots.…”

Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot

“…The wide application of this type of mobile robots has attracted the interest of many researchers in automatic control and robotics. Some examples of these applications are the personal transportation systems [5], walking design for humanoid robots [6], robotic wheelchairs [7], and educational purposes [8][9][10]. From the point of view of automatic control theory, the inverted pendulum mobile robot presents a complex stabilization problem, since it has only two wheels as a supporting point.…”