mathematical modelling and development of a monoball robot for educational purpose

This paper introduces the development of a LEGO based self-balancing robot for the purpose of teaching fundamental concept of mechatronics subjects. This is a low cost and portable experimental assembly which would be suitable to introduce the important engineering subject such as control systems, e...

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Main Authors:	M. H., Latif, H., Md. Yusof, Toha, Siti Fauziah
Format:	Article
Language:	English English
Published:	Universiti Putra Malaysia 2016
Subjects:	TA349 Mechanics of engineering. Applied mechanics
Online Access:	http://irep.iium.edu.my/53476/ http://irep.iium.edu.my/53476/ http://irep.iium.edu.my/53476/1/53476_Mathematical%20modelling.pdf http://irep.iium.edu.my/53476/2/53476_Mathematical%20modelling_SCOPUS.pdf

id	iium-53476
recordtype	eprints
spelling	iium-534762017-04-04T04:48:44Z http://irep.iium.edu.my/53476/ mathematical modelling and development of a monoball robot for educational purpose M. H., Latif H., Md. Yusof Toha, Siti Fauziah TA349 Mechanics of engineering. Applied mechanics This paper introduces the development of a LEGO based self-balancing robot for the purpose of teaching fundamental concept of mechatronics subjects. This is a low cost and portable experimental assembly which would be suitable to introduce the important engineering subject such as control systems, embedded processors, programming and modelling.These subjects are thought towards the end of the programme and seldomly incorporated together. In this paper, the mathematical modelling of a self-balancing robot is proposed. This self-balancing robot has the capability of balancing itself on a ball which is based on the inverted pendulum theory. The design of the robot was made by first, analysing the dynamics of the inverted pendulum and from there on, a mathematical model is developed using free body diagrams. To add to the challenge of developing this robot for students, the mathematical model of the robot to be developed and modelled must be based on the spherical wheel inverted pendulum. The mathematical model is then verified by comparing the behaviour of the constructed robot with simulated model. The effectiveness of the PID and the LQR controller is verified by simulations and experimental results. Finally the usefulness of the self-balancing robot using LEGO Mindstorms and Arduino controller as a medium of teaching and learning mechatronics subjects is demonstrated. Universiti Putra Malaysia 2016 Article PeerReviewed application/pdf en http://irep.iium.edu.my/53476/1/53476_Mathematical%20modelling.pdf application/pdf en http://irep.iium.edu.my/53476/2/53476_Mathematical%20modelling_SCOPUS.pdf M. H., Latif and H., Md. Yusof and Toha, Siti Fauziah (2016) mathematical modelling and development of a monoball robot for educational purpose. Malaysian Journal of Mathematical Sciences, 10. pp. 265-275. ISSN 1823-8343 http://einspem.upm.edu.my/journal/fullpaper/vol10sfeb2/No23.pdf
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TA349 Mechanics of engineering. Applied mechanics
spellingShingle	TA349 Mechanics of engineering. Applied mechanics M. H., Latif H., Md. Yusof Toha, Siti Fauziah mathematical modelling and development of a monoball robot for educational purpose
description	This paper introduces the development of a LEGO based self-balancing robot for the purpose of teaching fundamental concept of mechatronics subjects. This is a low cost and portable experimental assembly which would be suitable to introduce the important engineering subject such as control systems, embedded processors, programming and modelling.These subjects are thought towards the end of the programme and seldomly incorporated together. In this paper, the mathematical modelling of a self-balancing robot is proposed. This self-balancing robot has the capability of balancing itself on a ball which is based on the inverted pendulum theory. The design of the robot was made by first, analysing the dynamics of the inverted pendulum and from there on, a mathematical model is developed using free body diagrams. To add to the challenge of developing this robot for students, the mathematical model of the robot to be developed and modelled must be based on the spherical wheel inverted pendulum. The mathematical model is then verified by comparing the behaviour of the constructed robot with simulated model. The effectiveness of the PID and the LQR controller is verified by simulations and experimental results. Finally the usefulness of the self-balancing robot using LEGO Mindstorms and Arduino controller as a medium of teaching and learning mechatronics subjects is demonstrated.
format	Article
author	M. H., Latif H., Md. Yusof Toha, Siti Fauziah
author_facet	M. H., Latif H., Md. Yusof Toha, Siti Fauziah
author_sort	M. H., Latif
title	mathematical modelling and development of a monoball robot for educational purpose
title_short	mathematical modelling and development of a monoball robot for educational purpose
title_full	mathematical modelling and development of a monoball robot for educational purpose
title_fullStr	mathematical modelling and development of a monoball robot for educational purpose
title_full_unstemmed	mathematical modelling and development of a monoball robot for educational purpose
title_sort	mathematical modelling and development of a monoball robot for educational purpose
publisher	Universiti Putra Malaysia
publishDate	2016
url	http://irep.iium.edu.my/53476/ http://irep.iium.edu.my/53476/ http://irep.iium.edu.my/53476/1/53476_Mathematical%20modelling.pdf http://irep.iium.edu.my/53476/2/53476_Mathematical%20modelling_SCOPUS.pdf
first_indexed	2023-09-18T21:15:38Z
last_indexed	2023-09-18T21:15:38Z
_version_	1777411543626940416

mathematical modelling and development of a monoball robot for educational purpose

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