Integrated modeling and analysis of an extendable double-link two wheeled mobile robot

This research is aimed to design and develop a two-wheeled mobile robot with an extendable link for applications in a confined area. The proposed system mimics a double inverted pendulum, where the first link (Link1) is made near to the upright position and the second link (Link2) can be at any inte...

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Main Authors:	Abdul Rahman, Muhammad Taqiuddin, Ahmad, Salmiah, Akmeliawati, Rini
Format:	Conference or Workshop Item
Language:	English English
Published:	2013
Subjects:	T351 Mechanical drawing. Engineering graphics TA174 Engineering design TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/31674/ http://irep.iium.edu.my/31674/ http://irep.iium.edu.my/31674/2/AIM_2013_Program___Friday_July_12%2C_2013.pdf http://irep.iium.edu.my/31674/7/SA_06584358.pdf

id	iium-31674
recordtype	eprints
spelling	iium-316742016-03-09T05:48:46Z http://irep.iium.edu.my/31674/ Integrated modeling and analysis of an extendable double-link two wheeled mobile robot Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini T351 Mechanical drawing. Engineering graphics TA174 Engineering design TJ212 Control engineering This research is aimed to design and develop a two-wheeled mobile robot with an extendable link for applications in a confined area. The proposed system mimics a double inverted pendulum, where the first link (Link1) is made near to the upright position and the second link (Link2) can be at any interest angular position within [-90,90] range with the extendable effect. This type of configuration is very complex, highly nonlinear and less studied by the researchers in this field. Therefore this paper focuses on modeling of a multi degree of freedom of two-wheeled mobile robot. The mathematical model of the robot has been derived from its free body diagram involving the wheels, Link1 and Link2 with extendable effect. The equations have been linearised and represented in the form of state space model. The model was then tested using linear quadratic regulator (LQR), which was used to control the angular position of Link1. The results show that the model derived works very well with its linear operating region. The modeling stage was extended using virtual prototyping that represent its actual system. Simulation results also shown that with suitable controllers, the 4D model developed was able to perform at any interest angular position. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/31674/2/AIM_2013_Program___Friday_July_12%2C_2013.pdf application/pdf en http://irep.iium.edu.my/31674/7/SA_06584358.pdf Abdul Rahman, Muhammad Taqiuddin and Ahmad, Salmiah and Akmeliawati, Rini (2013) Integrated modeling and analysis of an extendable double-link two wheeled mobile robot. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’13), , July 9-12, 2013, Wollongong, Australia. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6584358
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T351 Mechanical drawing. Engineering graphics TA174 Engineering design TJ212 Control engineering
spellingShingle	T351 Mechanical drawing. Engineering graphics TA174 Engineering design TJ212 Control engineering Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
description	This research is aimed to design and develop a two-wheeled mobile robot with an extendable link for applications in a confined area. The proposed system mimics a double inverted pendulum, where the first link (Link1) is made near to the upright position and the second link (Link2) can be at any interest angular position within [-90,90] range with the extendable effect. This type of configuration is very complex, highly nonlinear and less studied by the researchers in this field. Therefore this paper focuses on modeling of a multi degree of freedom of two-wheeled mobile robot. The mathematical model of the robot has been derived from its free body diagram involving the wheels, Link1 and Link2 with extendable effect. The equations have been linearised and represented in the form of state space model. The model was then tested using linear quadratic regulator (LQR), which was used to control the angular position of Link1. The results show that the model derived works very well with its linear operating region. The modeling stage was extended using virtual prototyping that represent its actual system. Simulation results also shown that with suitable controllers, the 4D model developed was able to perform at any interest angular position.
format	Conference or Workshop Item
author	Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini
author_facet	Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini
author_sort	Abdul Rahman, Muhammad Taqiuddin
title	Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_short	Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_full	Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_fullStr	Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_full_unstemmed	Integrated modeling and analysis of an extendable double-link two wheeled mobile robot
title_sort	integrated modeling and analysis of an extendable double-link two wheeled mobile robot
publishDate	2013
url	http://irep.iium.edu.my/31674/ http://irep.iium.edu.my/31674/ http://irep.iium.edu.my/31674/2/AIM_2013_Program___Friday_July_12%2C_2013.pdf http://irep.iium.edu.my/31674/7/SA_06584358.pdf
first_indexed	2023-09-18T20:45:49Z
last_indexed	2023-09-18T20:45:49Z
_version_	1777409667438215168

Integrated modeling and analysis of an extendable double-link two wheeled mobile robot

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