Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot

This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to b...

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Main Authors:	Abdul Rahman, Muhammad Taqiuddin, Ahmad, Salmiah, Akmeliawati, Rini, Altalmas, Tareq, M., Aula, Abqori
Format:	Conference or Workshop Item
Language:	English
Published:	2013
Subjects:	TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/31678/ http://irep.iium.edu.my/31678/1/ICOM13_full_paper_Taqi.pdf

id	iium-31678
recordtype	eprints
spelling	iium-316782016-03-09T05:58:53Z http://irep.iium.edu.my/31678/ Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system’s center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/31678/1/ICOM13_full_paper_Taqi.pdf Abdul Rahman, Muhammad Taqiuddin and Ahmad, Salmiah and Akmeliawati, Rini and Altalmas, Tareq, M. and Aula, Abqori (2013) Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot. In: 5th International Conference on Mechatronics (ICOM'13), 2 – 4 July 2013, Kuala Lumpur, Malaysia. (In Press)
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering
spellingShingle	TA168 Systems engineering TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
description	This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system’s center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control.
format	Conference or Workshop Item
author	Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori
author_facet	Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Akmeliawati, Rini Altalmas, Tareq, M. Aula, Abqori
author_sort	Abdul Rahman, Muhammad Taqiuddin
title	Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
title_short	Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
title_full	Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
title_fullStr	Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
title_full_unstemmed	Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot
title_sort	centre of gravity (c.o.g)-based analysis on the dynamics of the extendable double-link two-wheeled mobile robot
publishDate	2013
url	http://irep.iium.edu.my/31678/ http://irep.iium.edu.my/31678/1/ICOM13_full_paper_Taqi.pdf
first_indexed	2023-09-18T20:45:49Z
last_indexed	2023-09-18T20:45:49Z
_version_	1777409667890151424

Centre of Gravity (C.O.G)-based analysis on the dynamics of the extendable Double-Link Two-Wheeled Mobile Robot

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