|제목(국문)||필터 설계를 통한 한 바퀴 구동 로봇의 진동 제어|
|제목(영문)||Vibration Control of a Single~wheel Robot Using a Filter Design|
,Department of Mechatronics Engineering, Chungnam
정슬 (S. Jung ,충남대학교 메카트로닉스공학과 ) ▷공저자네트워크등록하기
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 desig ned 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.
|keyword||Vibration detection, notch filter, AHRS, GYROBO, balancing control|