Control and implementation of a single wheel holonomic vehicle
This paper proposes a robot balanced on a ball. In contrast to an inverted pendulum with two wheels, such as the Segway. The robot proposed in this paper is equipped with three omnidirectional wheels with DC motors that drive the ball and two sets of rate gyroscopes and accelerometers as measurement...
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| Tipo de recurso: | tesis de maestría |
| Estado: | Versión publicada |
| Fecha de publicación: | 2013 |
| País: | Colombia |
| Institución: | Pontificia Universidad Javeriana |
| Repositorio: | Repositorio Universidad Javeriana |
| Idioma: | español |
| OAI Identifier: | oai:repository.javeriana.edu.co:10554/12706 |
| Acceso en línea: | http://hdl.handle.net/10554/12706 https://doi.org/10.11144/Javeriana.10554.12706 |
| Access Level: | acceso abierto |
| Palabra clave: | Vehículo omnidireccional Holonómico Omniwheel Rueda esférica Omnidirectional Vehicle holonomic omniwheel Spherical Wheel Robótica Vehículos - Innovaciones tecnológicas Maestría en ingeniería electrónica - Tesis y disertaciones académicas |
| Sumario: | This paper proposes a robot balanced on a ball. In contrast to an inverted pendulum with two wheels, such as the Segway. The robot proposed in this paper is equipped with three omnidirectional wheels with DC motors that drive the ball and two sets of rate gyroscopes and accelerometers as measurement sensors. The robot has a simple design. Inverted pendulum control is applied in two axes for stabilization, and commanded motions are converted into velocity commands for the three wheels. The mechanism, control method, and experimental results described in this paper. |
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