Rotation control for the Yaw-direction of Unicycle Robot

외바퀴 로봇의 Yaw 방향 회전 제어

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.