Download - Segway Robotics
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Segway RoboticsAn Introduction using Control Theory
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• Segway robot is a complicated robotic system. It is a type of robot which balance on two wheel.
• The first Segway robotics based model was introduced in market by DEAN KAMEN with DOUG FIELD.
• Name of product: Segway PT.
• A user commands the Segway to go forward by shifting their weight forward on the platform, and backward by shifting their weight backward.
• Uses Gyroscopic sensors and fluid-based levelling sensors detect the weight shift.
Bla Bla Bla ………..
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Concept behind Segway Robotics
• Segway Robotics is based on classical control theory.
• Works on discrete time system.
• The model of Segway Robot is a combination of both UNICYCLE MODEL and INVERTED PENDULUM MODEL.
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Linear System
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• But all the models are not linear.
• Rather most of them are non-linear in nature
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Linearization
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Inverted Pendulum
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Unicycle
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Stability
Re(l)<0
Re(l)=0
Re(l)≤0
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State Feedback
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Stabilization using Pole Placement
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Controllability
• Then the system is Completely Controllable
• Pole placement is then possible
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Segway Robot Again !
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6
Therefore, System is not completely Controllable!
But here we can consider only v and w of the uniclycle part
4Now,
Therefore, System is completely Controllable!
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References
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Presentation by:-
SHASHANK MISHRAMAE-II
VISHAL SINGHMAE-II