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Transactions of FAMENA, Vol. 36 No. 3, 2012.

Original scientific paper

SELF-BALANCING MOBILE ROBOT TILTER

Tomislav Tomašić orcid id orcid.org/0000-0002-8849-7212
Andrea Demetlika
Mladen Crneković ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia

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Abstract

In this project a remote controlled self-balancing mobile robot was designed, built and controlled. This paper gives a summary of the work done in the fields of mechanical design, electronics, software design, system characterization and control theory. This wide array of fields necessary for the realization of the project holds the project up as a leading example in the field of mechatronics. In the paper special focus will be on the modelling of the robotic system and the simulation results of various control methods required for the stabilization of the system.

Keywords

self-balancing robot; control theory; inverted pendulum; PID; LQR

Hrčak ID:

89237

URI

https://hrcak.srce.hr/89237

Publication date:

30.10.2012.

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