Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to b...
| Main Authors: | , , , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2013
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| Online Access: | http://irep.iium.edu.my/31678/1/ICOM13_full_paper_Taqi.pdf |
| _version_ | 1825647437810761728 |
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| author | Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori |
| author_facet | Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori |
| author_sort | Abdul Rahman, Muhammad Taqiuddin |
| collection | IIUM |
| description | This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system’s center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control. |
| first_indexed | 2024-03-05T23:17:36Z |
| format | Proceeding Paper |
| id | oai:generic.eprints.org:31678 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T23:17:36Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | oai:generic.eprints.org:316782016-03-09T05:58:53Z http://irep.iium.edu.my/31678/ Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system’s center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control. 2013 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/31678/1/ICOM13_full_paper_Taqi.pdf Abdul Rahman, Muhammad Taqiuddin and Ahmad, Salmiah and Akmeliawati, Rini and Altalmas, Tareq, M. and Aula, Abqori (2013) Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot. In: 5th International Conference on Mechatronics (ICOM'13), 2 – 4 July 2013, Kuala Lumpur, Malaysia. (In Press) |
| spellingShingle | TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot |
| title | Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot |
| title_full | Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot |
| title_fullStr | Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot |
| title_full_unstemmed | Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot |
| title_short | Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot |
| title_sort | centre of gravity c o g based analysis on the dynamics of the extendable double link two wheeled mobile robot |
| topic | TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering |
| url | http://irep.iium.edu.my/31678/1/ICOM13_full_paper_Taqi.pdf |
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