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Development of an automatic self balancing control system for a tree climbing robot

The purpose of this project was to design, fabricate and test a self balancing control system for a four wheeled climbing robot. A HM-RF transparent wireless data link module was used for transferring the data between the remote control and robot. A programmed microcontroller ATmega16 was used to ge...

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Main Authors: Shokripour, Hamed, Wan Ismail, Wan Ishak, Karimi, Zahra Moez
Format: Article
Language:English
Published: Academic Journals 2011
Online Access:http://psasir.upm.edu.my/id/eprint/23176/1/23176.pdf
http://psasir.upm.edu.my/id/eprint/23176/
http://www.academicjournals.org/journal/AJAR/article-abstract/E3B67E834766
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spelling my.upm.eprints.231762017-11-09T02:53:42Z http://psasir.upm.edu.my/id/eprint/23176/ Development of an automatic self balancing control system for a tree climbing robot Shokripour, Hamed Wan Ismail, Wan Ishak Karimi, Zahra Moez The purpose of this project was to design, fabricate and test a self balancing control system for a four wheeled climbing robot. A HM-RF transparent wireless data link module was used for transferring the data between the remote control and robot. A programmed microcontroller ATmega16 was used to generate an appropriate signal for each of the remote control buttons. The control system balances the robot during the climbing by separately adjusting the rotation speed of each DC motor proportional to the tilt angle of the robot frame. Pulse-width modulation technique was used to control the speed of DC motors. A two axes tilt sensor was used for concurrently measuring the tilt angle of the robot in both X and Y axes. A microcontroller ATmega64 was used to analyze the received data from the tilt sensor and the remote control and to generate an appropriate PWM signal for each DC motors. For programming, the microcontrollers were used in Bascome IDE interface in basic language. An electronic board was designed to connect the sensor, data receiver and motors to the microcontroller. The robot tested in field and maximum tilt angle was 8 and 6 degrees for Y and X axes, respectively. Academic Journals 2011 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/23176/1/23176.pdf Shokripour, Hamed and Wan Ismail, Wan Ishak and Karimi, Zahra Moez (2011) Development of an automatic self balancing control system for a tree climbing robot. African Journal of Agricultural Research, 5 (21). art. no. E3B67E834766. pp. 2964-2971. ISSN 1991-637X http://www.academicjournals.org/journal/AJAR/article-abstract/E3B67E834766
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
description The purpose of this project was to design, fabricate and test a self balancing control system for a four wheeled climbing robot. A HM-RF transparent wireless data link module was used for transferring the data between the remote control and robot. A programmed microcontroller ATmega16 was used to generate an appropriate signal for each of the remote control buttons. The control system balances the robot during the climbing by separately adjusting the rotation speed of each DC motor proportional to the tilt angle of the robot frame. Pulse-width modulation technique was used to control the speed of DC motors. A two axes tilt sensor was used for concurrently measuring the tilt angle of the robot in both X and Y axes. A microcontroller ATmega64 was used to analyze the received data from the tilt sensor and the remote control and to generate an appropriate PWM signal for each DC motors. For programming, the microcontrollers were used in Bascome IDE interface in basic language. An electronic board was designed to connect the sensor, data receiver and motors to the microcontroller. The robot tested in field and maximum tilt angle was 8 and 6 degrees for Y and X axes, respectively.
format Article
author Shokripour, Hamed
Wan Ismail, Wan Ishak
Karimi, Zahra Moez
spellingShingle Shokripour, Hamed
Wan Ismail, Wan Ishak
Karimi, Zahra Moez
Development of an automatic self balancing control system for a tree climbing robot
author_facet Shokripour, Hamed
Wan Ismail, Wan Ishak
Karimi, Zahra Moez
author_sort Shokripour, Hamed
title Development of an automatic self balancing control system for a tree climbing robot
title_short Development of an automatic self balancing control system for a tree climbing robot
title_full Development of an automatic self balancing control system for a tree climbing robot
title_fullStr Development of an automatic self balancing control system for a tree climbing robot
title_full_unstemmed Development of an automatic self balancing control system for a tree climbing robot
title_sort development of an automatic self balancing control system for a tree climbing robot
publisher Academic Journals
publishDate 2011
url http://psasir.upm.edu.my/id/eprint/23176/1/23176.pdf
http://psasir.upm.edu.my/id/eprint/23176/
http://www.academicjournals.org/journal/AJAR/article-abstract/E3B67E834766
_version_ 1643827980497059840
score 13.211869

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