Conceptual Design Algorithm of a. Two-Wheeled Inverted Pendulum Mobile Robot for Educational Purposes

摘要

It is a great challenge for the universities to present undergraduate students the fundamental knowledge needed to develop intelligent unstable robots. Due to the inherent instability and nonholonomic constraints, the problem of two-wheeled inverted pendulum (TWIP) mobile robot is appealing and challenging case in control and dynamic systems. In this paper, an approach is presented to introduce undergraduate students of the control engineering, the principle of developing a. TWIP mobile robot. For this purpose, a. conceptual design algorithm for TWIP robots is contributed and based on the algorithm and the design criteria, a. prototype of the robot is constructed. In the construction process, the selection of mechanical and electronic components is based on the algorithm and the students can experience different control techniques to stabilize and control the system.