Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Vibration Control of a Single-wheel Robot Using a Filter Design

필터 설계를 통한 한 바퀴 구동 로봇의 진동 제어

  • Lee, Sang-Deok (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 이상덕 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2015.06.08
  • Accepted : 2015.07.27
  • Published : 2015.09.01
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Abstract

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.

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References

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