Modeling and Control of a Two-Wheeled Robot Machine with a Handling Mechanism

Abstract

The mathematical model of a two-wheeled robotic machine (TWRM) with five degrees of freedom (DOF) is utilized in this paper to enlarge the workspace and enhance the robot’s flexibility. The suggested machine features five degrees of freedom (DOFs), which makes it suitable for pick-and-place, material handling, and packing tasks in the workplace. The proposed architecture will make it more difficult to control the system to account for the center of mass’ (COM) location changing as a result of managing tasks that must be performed in multiple directions. The state space model was created by linearizing the non-linear modeling equations at the equilibrium point using the Lagrangian modeling. Numerous controllers, including the proportional-integral-derivative (PID), linear-quadratic regulator (LQR), and PID with LQR methods, were tested in order to stabilize the robot. The PID with LQR technique, where PID was used as a feedforward to control the intermediate body (IB) and end-effector and LQR was used as state feedback to regulate all states. These controllers were evaluated while taking into account a variety of circumstances (disturbance signals, tracking pathways, and moving actuators). In terms of least overshoot, rising time, and applied input forces, simulation results showed that PID with LQR controller tuned performed better than the other two control systems.