Development of a Balancing Robot with 2-wheels using the Smart In-Wheel Motor

Uen Ji Song; Gil Soo Kim; Gyeong Sik Kim  and Byung Seop Song

doi:10.17485/ijst/2016/v9iS1/110276

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Development of a Balancing Robot with 2-wheels using the Smart In-Wheel Motor

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2016/v9iS1/110276

Year: 2016, Volume: 9, Issue: Special Issue 1, Pages: 1-4

Original Article

Development of a Balancing Robot with 2-wheels using the Smart In-Wheel Motor

Uen Ji Song¹ , Gil Soo Kim¹ , Gyeong Sik Kim² and Byung Seop Song^2*

¹ Rovitek, Gyeong San, Republic of Korea; [email protected]
² Daegu University, Gyeong San, Republic of Korea; [email protected]
*Author for correspondence
Byung Seop Song
Daegu University
Email:[email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

A Balancing Robot with 2-Wheel using a Smart In-Wheel Motor based on an inverted pendulum model was introduced. Lately, research has been widely carried out for the inverted pendulum system. It because inverted pendulum systems have non-linearity characteristics, so it is an example of a good model to evaluate the performance of the controller. In this paper, a fuzzy logic control system design based on an inverted pendulum model is proposed to control a Segway-type robot, which is an inverted pendulum mobile robot. By designing a fuzzy logic system for control of the robot, the usefulness of control performance was confirmed, and measures to simplify the complexity of the controller design and to reduce the complex calculations of the controller were proposed.
Keywords: In-Wheel Motor, Inverted Pendulum Model, Control System, Segway-type, Balancing Robot