Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2015.15.0103
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.
Analysis of Relationship between Body and Gimbal Motion Through Experiment of a Single-wheel Robot Based on an Inverse Gyroscopic Effect, Journal of Institute of Control, Robotics and Systems, 2015, 21, 11, 1064
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