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Vibration Control of a Single-wheel Robot Using a Filter Design
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 Title & Authors
Vibration Control of a Single-wheel Robot Using a Filter Design
Lee, Sang-Deok; Jung, Seul;
In this paper, the vibration of a single-wheel mobile robot is minimized by designing a filter. An AHRS (Attitude and heading reference system) sensor is used for measuring the state of the robot. The measured signals are analyzed using the FFT method to investigate the fundamental vibrational frequency with respect to the flywheel's speed of the gimbal system. The IIR notch filter is then designed to suppress the vibration at the identified frequency. After simulating the performance of the designated filter using the measured sensor data through extensive experiments, the filter is actually implemented in a single-wheel mobile robot, GYROBO. Finally, the performance of the designed filter is confirmed by performing the balancing control task of the GYROBO system.
Vibration detection;notch filter;AHRS;GYROBO;balancing control;
 Cited by
외바퀴 로봇의 역자이로 효과에 의한 바디 모션과 김벌 모션의 실험을 통한 관계 분석,이상덕;정슬;

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