Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Estimate the Inclination Angle using Traveling Speed of Segway Robot on the Slope

경사로에서 세그웨이 로봇의 주행 속도를 통한 경사각 추정

  • Jeong, Hee-In (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Sang-Yong (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
  • 정희인 (부산대학교 전자전기컴퓨터공학과) ;
  • 이상용 (부산대학교 로봇관련협동과정) ;
  • 이장명 (부산대학교 전자공학과)
  • Received : 2013.12.13
  • Accepted : 2014.09.05
  • Published : 2014.11.01
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Abstract

This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics.

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References

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