Balancing a two-wheeled Segway robot
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2012
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| Online Access: | http://hdl.handle.net/1721.1/69500 |
| _version_ | 1811088719723102208 |
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| author | Bageant, Maia R. (Maia Reynolds) |
| author2 | Harry Asada. |
| author_facet | Harry Asada. Bageant, Maia R. (Maia Reynolds) |
| author_sort | Bageant, Maia R. (Maia Reynolds) |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. |
| first_indexed | 2024-09-23T14:06:28Z |
| format | Thesis |
| id | mit-1721.1/69500 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:06:28Z |
| publishDate | 2012 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/695002019-04-12T15:28:28Z Balancing a two-wheeled Segway robot Bageant, Maia R. (Maia Reynolds) Harry Asada. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. Cataloged from PDF version of thesis. Includes bibliographical references (p. 57). In this thesis, I designed and constructed hardware for a two-wheeled balancing Segway robot. Because the robot could not be balanced based on a control system derived from the original analytical model, additional system dynamics in the form of frictional losses in the motors were incorporated. A SISO PID compensator and a SISO lead-lag compensator were designed to balance the robot based on the new model; both showed acceptable system responses but were subject to high-frequency oscillation. A SISO state feedback controller was also designed, and it was successful in creating stability in simulation and removing the high-frequency oscillation effects. The robot was rebuilt using new parts that better represented its ideal model, and software was created using National Instruments LabVIEW to control the robot. by Maia R. Bageant. S.B. 2012-02-29T18:21:54Z 2012-02-29T18:21:54Z 2011 2011 Thesis http://hdl.handle.net/1721.1/69500 775672333 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 57 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Bageant, Maia R. (Maia Reynolds) Balancing a two-wheeled Segway robot |
| title | Balancing a two-wheeled Segway robot |
| title_full | Balancing a two-wheeled Segway robot |
| title_fullStr | Balancing a two-wheeled Segway robot |
| title_full_unstemmed | Balancing a two-wheeled Segway robot |
| title_short | Balancing a two-wheeled Segway robot |
| title_sort | balancing a two wheeled segway robot |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/69500 |
| work_keys_str_mv | AT bageantmaiarmaiareynolds balancingatwowheeledsegwayrobot |