Wheel Robot

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Inverted Pendulum – Two Wheel Robot e-nuvo WHEEL (Global Model)

For the student to learn through practice about robot motions (motion equations)
and how to control them, we present a two-wheeled inver ted pendulum robot. This robot permits us to understand easi ly not only Modern Control Theory, but also how to use sensors such as encoders and gyros in our algorithms. The student also gets to learn about analysis and simulation through the use of the wel l-establ ished tools from MATLAB/Simul ink.

Usage

For Education

• Embedded system programming(C language)
• Fundamental of motor control(PWM, counter, A/D convert, H-bridge, encoder etc.)
• Line tracing experiments
• PID control
• Modern control
• Model based design

For Research and Development

• -For R&D field such as path planning, obstacle avoidance, cooperative control and so on.

Leaning Process

Textbook

• WH-A1
  Robot Education Specialist Makoto Mizukawa Line Tracer Training Course
  • Chapter 1 Line Tracer Robot and Mechatronic Configuration
  • Chapter 2 Microcomputer Foundations
  • Chapter 3 DC motors
  • Chapter 4 Rotary Encoder
  • Chapter 5　Feedback Control
    
• WH-A3
  Learning Modern Control Training with Inverted Pendulum Robots
  • Chapter 0　Introduction
  • Chapter 1　What is Control?
  • Chapter 2　Representation of Control system through State equations
  • Chapter 3　Stability of Inverted Pendulum Robots
  • Chapter 4　Controllability and Observability of Inverted Pendulum
  • Chapter 5　Stabilization of Inverted Pendulum Robots (Pole Assignment)
  • Chapter 6　Optimal Control of Inverted Pendulum Robots
• WH-C1
  -Experiments in applying modern control theory to control a two-wheel inverted robot -
  | Exercises on MATLAB and control experiments empowered by e-nuvo WHEEL | Shuichi Adachi
  1. Introduction
  2. Design of the controller for a simple inverted pendulum – Preparing to conduct an experiment using a two-wheel inverted robot –
  3. Experiment using a two-wheel inverted robot
  4. Conclusion

Hardware

Control System(Wheeled Inverted Pendulum/One motor case)

Movie

Introduction

• Wheeled Inverted Pendulum (demo)
• Wheeled Inverted Pendulum (slope)
• Wheeled Inverted Pendulum (u-turn)
• Inverted Pendulum (30 cm)
• Inverted Pendulum (50 cm)
• Line Tracing (3 wheels, course "O")
• Line Tracing (3 wheels, course "E")
• Line Tracing (Wheeled Inverted Pendulum, course "O-1")
• Line Tracing (Wheeled Inverted Pendulum, course "O-2")
• Line Tracing (Wheeled Inverted Pendulum, course "E-1")
• Line Tracing (Wheeled Inverted Pendulum, course "E-2")

Specifications

Product Name		Wheeled Robot e-nuvo WHEEL ver.1.1
CPU		ZMP Original Generic CPU Board(x1) - Renesas Technology H8 Tiny (HD64F3687FP)
CPLD (For Encoder Pulse signal Processing)		ZMP Original Generic CPLD Board(x1) - Altera MAX II EPM240T100C5
Actuator		Mabuchi DC Motor RE-280RA, Reduction Gears 30
Motor Driver		ZMP Original 2ch Motor Driver Board(x1) - H Bridge Circuitx2 - High Precision Elec. Feedback Circuitx2
Sensors	Angle Sensor	ZMP Original Encoder Board(x2) - Rotary Encoder: Kodenshi KE203(Resolution 100[pulse/rev]) - Output resol: 0.03[deg](=360deg/100/4 rotary/deceleration ratio 30)
	Pose Sensor	ZMP Original Gyro Sensor Board(x1) - Gyro Sensor: Murata ENC-03RCx1
	Accel Sensor	ZMP Original Accel Sensor(x1) - Accel Sensor: ANALOG DEVICES ADXL322JCP
	Pendulum Angle Sensor	Murata Potentiometer
	Line Trace Sensor	ZMP Original Line Tracing Sensor Board(x1)(3ch Photosensor)
PC I/F		RS-232C　(For Flash Writing & Log Data Output)
Power		Control  CPU5[v], CPLD3.3[v]  (1.2[v]Batt x2, boosted) Motor  3[v]/6[v](variable)  (1.2[v]Batt x2, boosted)
Recommended Development Environment	Integrated Development	Renesas Electronics HEW(High-performance Embedded Workshop)
	Flash Writing Tool	Renesas  Electronics FDT(Flash Development Toolkit)

Documents

Pressrelease

• 2011.3.28
  Robot study material for embedded engineer training released
  - Embedded Programming, Motor Control, PID/Modern Control Theory-

Price

e-nuvo WHEEL Global Edition

• $6,000
• Contents
  • e-nuvo WHEEL x1 with option (CPLD module, Line tracing module, inverted pendulum module and accelerometer module)
  • Sample applications, documents and cables
  • 3 Textbooks
    • Robot Education Specialist Makoto Mizukawa Line Tracer Training Course (WH-A1)
    • Learning Modern Control Training with Inverted Pendulum Robots (WH-A3)
    • Experiments in applying modern control theory to control a two-wheel inverted robot -Exercises on MATLAB and control experiments empowered by e-nuvo WHEEL- ( WH-C1)

e-nuvo BASIC & WHEEL Global Package

• $8,600
• Contents
  • e-nuvo BASIC x1 with options (accelerometer, gyro sensor and AC adaptor)
  • e-nuvo WHEEL x1 with option (CPLD module, Line tracing module, inverted pendulum module and accelerometer module)
  • Sample applications, documents and cables
  • 4 Textbooks