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Integrated modeling and analysis of an extendable double-link two wheeled mobile robot

This research is aimed to design and develop a two-wheeled mobile robot with an extendable link for applications in a confined area. The proposed system mimics a double inverted pendulum, where the first link (Link1) is made near to the upright position and the second link (Link2) can be at any inte...

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Main Authors: Abdul Rahman, Muhammad Taqiuddin, Ahmad, Salmiah, Akmeliawati, Rini
Format: Conference or Workshop Item
Language:English
English
Published: 2013
Subjects:
T351 Mechanical drawing. Engineering graphics
TA174 Engineering design
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/31674/2/AIM_2013_Program___Friday_July_12%2C_2013.pdf
http://irep.iium.edu.my/31674/7/SA_06584358.pdf
http://irep.iium.edu.my/31674/
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6584358
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spelling my.iium.irep.316742016-03-09T05:48:46Z http://irep.iium.edu.my/31674/ Integrated modeling and analysis of an extendable double-link two wheeled mobile robot Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini T351 Mechanical drawing. Engineering graphics TA174 Engineering design TJ212 Control engineering This research is aimed to design and develop a two-wheeled mobile robot with an extendable link for applications in a confined area. The proposed system mimics a double inverted pendulum, where the first link (Link1) is made near to the upright position and the second link (Link2) can be at any interest angular position within [-90,90] range with the extendable effect. This type of configuration is very complex, highly nonlinear and less studied by the researchers in this field. Therefore this paper focuses on modeling of a multi degree of freedom of two-wheeled mobile robot. The mathematical model of the robot has been derived from its free body diagram involving the wheels, Link1 and Link2 with extendable effect. The equations have been linearised and represented in the form of state space model. The model was then tested using linear quadratic regulator (LQR), which was used to control the angular position of Link1. The results show that the model derived works very well with its linear operating region. The modeling stage was extended using virtual prototyping that represent its actual system. Simulation results also shown that with suitable controllers, the 4D model developed was able to perform at any interest angular position. 2013 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/31674/2/AIM_2013_Program___Friday_July_12%2C_2013.pdf application/pdf en http://irep.iium.edu.my/31674/7/SA_06584358.pdf Abdul Rahman, Muhammad Taqiuddin and Ahmad, Salmiah and Akmeliawati, Rini (2013) Integrated modeling and analysis of an extendable double-link two wheeled mobile robot. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’13), , July 9-12, 2013, Wollongong, Australia. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6584358
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic T351 Mechanical drawing. Engineering graphics
TA174 Engineering design
TJ212 Control engineering
spellingShingle T351 Mechanical drawing. Engineering graphics
TA174 Engineering design
TJ212 Control engineering
Abdul Rahman, Muhammad Taqiuddin
Ahmad, Salmiah
Akmeliawati, Rini
Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
description This research is aimed to design and develop a two-wheeled mobile robot with an extendable link for applications in a confined area. The proposed system mimics a double inverted pendulum, where the first link (Link1) is made near to the upright position and the second link (Link2) can be at any interest angular position within [-90,90] range with the extendable effect. This type of configuration is very complex, highly nonlinear and less studied by the researchers in this field. Therefore this paper focuses on modeling of a multi degree of freedom of two-wheeled mobile robot. The mathematical model of the robot has been derived from its free body diagram involving the wheels, Link1 and Link2 with extendable effect. The equations have been linearised and represented in the form of state space model. The model was then tested using linear quadratic regulator (LQR), which was used to control the angular position of Link1. The results show that the model derived works very well with its linear operating region. The modeling stage was extended using virtual prototyping that represent its actual system. Simulation results also shown that with suitable controllers, the 4D model developed was able to perform at any interest angular position.
format Conference or Workshop Item
author Abdul Rahman, Muhammad Taqiuddin
Ahmad, Salmiah
Akmeliawati, Rini
author_facet Abdul Rahman, Muhammad Taqiuddin
Ahmad, Salmiah
Akmeliawati, Rini
author_sort Abdul Rahman, Muhammad Taqiuddin
title Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_short Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_full Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_fullStr Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_full_unstemmed Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_sort integrated modeling and analysis of an extendable double-link two wheeled mobile robot
publishDate 2013
url http://irep.iium.edu.my/31674/2/AIM_2013_Program___Friday_July_12%2C_2013.pdf
http://irep.iium.edu.my/31674/7/SA_06584358.pdf
http://irep.iium.edu.my/31674/
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6584358
_version_ 1643610050066907136
score 13.211869

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