Segway Robotics
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1) The Segway robot is a two-wheeled balancing robot introduced by DEAN KAMEN and DOUG FIELD. 2) It uses gyroscopic sensors and fluid-based leveling sensors to detect weight shifts and command the Segway to move forward or backward. 3) The Segway robotics model is based on control theory and combines an inverted pendulum model and unicycle model, though the actual systems are non-linear.
Segway Robotics
- 1. Segway Robotics An Introduction using Control Theory
- 2. • Segway robot is a complicated robotic system. It is a type of robot which balance on two wheel. • The first Segway robotics based model was introduced in market by DEAN KAMEN with DOUG FIELD. • Name of product: Segway PT. • A user commands the Segway to go forward by shifting their weight forward on the platform, and backward by shifting their weight backward. • Uses Gyroscopic sensors and fluid-based levelling sensors detect the weight shift. Bla Bla Bla ………..
- 4. Concept behind Segway Robotics • Segway Robotics is based on classical control theory. • Works on discrete time system. • The model of Segway Robot is a combination of both UNICYCLE MODEL and INVERTED PENDULUM MODEL.
- 6. • But all the models are not linear. • Rather most of them are non-linear in nature
- 10. Unicycle
- 12. State Feedback
- 13. Stabilization using Pole Placement
- 14. Controllability • Then the system is Completely Controllable • Pole placement is then possible
- 15. Segway Robot Again !
- 17. 6 Therefore, System is not completely Controllable! But here we can consider only v and w of the uniclycle part 4Now, Therefore, System is completely Controllable!
- 20. References
- 21. Presentation by:- SHASHANK MISHRA MAE-II VISHAL SINGH MAE-II