Skip to main content
SpringerLink
Log in
SpringerLink
Log in

Design and Simulation of Self-balancing Robot Using Reaction Sphere

  • Conference paper
  • First Online:
Proceedings of ICDMC 2019

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

  • 562 Accesses

Abstract

This paper highlights the work for designing a reaction sphere pendulum. First, the equation of motion for the reaction sphere pendulum is developed using Lagrangian’s mechanics. 3D model of the experimental setup is designed using SOLIDWORKS, and its constructional methods are discussed in this paper. Based on the system parameters derived from 3D model, equation of motion was simulated using MATLAB and its stabilization behaviour was observed for LQR controller. Simulation results highlighted that the system was able to stabilize to its desired position within 5 s, when disturbed from 18°.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Bibliography

  1. Houck AC, Katzschmann RK, Souza Ramos JA (2013) Futura pendulum. Technical report, Department of Mechanical Engineering, Massachusetts Institute of Technology

    Google Scholar 

  2. Block DJ, Astrom KJ, Mark W (2007) The reaction wheel pendulum. Morgan and Playpool Publishers

    Google Scholar 

  3. Lupu ES (2015) Cubic structure capable of balancing. Technical report, University Polithenica of Bucharest

    Google Scholar 

  4. Gajamohan M, Muehlebach M, Widmer T, D’Andrea R (2013) The CUBLI: a reaction wheel based inverted pendulum. Technical report, Institute of Dynamics System and Control, Zurich

    Google Scholar 

  5. Fantoni I, Lozano R (2002) Non-linear control for under actuated mechanical system, Springer

    Google Scholar 

  6. Romanishin JW, Gilpin K, Rus D (2013) M-blocks: momentum driven, magnetic modular robots. IEEE/RSJ

    Google Scholar 

  7. Bartholomew K (2017) Self-stabilized monopod. Technical report, Cal Poly Pomona

    Google Scholar 

  8. Muehlebach M, Gajamohan M, D’Andrea R (2015) Nonlinear analysis and control of a reaction wheel-based 3D inverted pendulum

    Google Scholar 

  9. Brevik P (2017) Two axis reaction wheel inverted pendulum. Technical report, Norwegian University of Science and Technology

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology, Avadi, Chennai, 600062, India

    M. Vignesh & A. S. Praveen

Authors
  1. M. Vignesh
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. S. Praveen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to M. Vignesh .

Editor information

Editors and Affiliations

  1. Tamkang University, New Taipei City, Taiwan

    Lung-Jieh Yang

  2. National Institute of Technology Tiruchirappalli, Tiruchirappalli, Tamil Nadu, India

    A. Noorul Haq

  3. Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology, Chennai, Tamil Nadu, India

    Lenin Nagarajan

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Vignesh, M., Praveen, A.S. (2020). Design and Simulation of Self-balancing Robot Using Reaction Sphere. In: Yang, LJ., Haq, A., Nagarajan, L. (eds) Proceedings of ICDMC 2019. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-3631-1_2

Download citation

  • DOI: https://doi.org/10.1007/978-981-15-3631-1_2

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-3630-4

  • Online ISBN: 978-981-15-3631-1

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation