Butler, L J and Bright, G (2010) Control strategy for a mobile self-balancing materials handling platform. Journal of Engineering, Design and Technology, 8(1), pp. 6-27. ISSN 1726-0531
Abstract
Purpose – This paper aims to examine the structure of the control strategy that is being deployed on the control of the mobile materials handling platform, from the higher level onboard interface software to the low-level control system that is tasked with the dynamic stability of the platform. Design/methodology/approach – The application of the principle of the inverted pendulum in mobile robotics has only recently been made possible by advances in the technology of electronics. A mobile materials handling platform has been designed and built for use in manufacturing systems of the future. The principle of the inverted pendulum has been incorporated into the design. This means that the platform is able to maintain dynamic stability during specific periods of operation. The mechatronic engineering approach was adopted in the design of the platform, which produced an integrated embedded system. Findings – Open source software being implemented onboard the platform for interfacing between the platform and remote client computers is found to be easily customisable according to the requirements of one's application. A solution to the problem of nonholonomic motion constraints that concern any differential drive mobile robot was found in a nonlinear state transformation algorithm. The algorithm was implemented on an intermediate level between the interface software and the low-level control system. The low-level feedback control system was designed using a linear quadratic regulator design method. Simulations of this control system showed that it was robust enough to reject predetermined disturbances in system characteristics. Originality/value – The application of a mobile platform specifically designed for materials handling based on the principle of the inverted pendulum has not been attempted to date.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | advanced manufacturing technologies; control systems; materials handling |
| Index terms: | methodology, control system, strategy, stability, design method, robotics, regulator, transformation, platform |
| Subjects: | structural engineering, management, research methods, monitoring and control, automation and robotics, digital design, sociology, business, design methods |
| Topics: | Digital Applications, Design Practice, Stakeholder Management, Business Strategy, Engineering Principles, Research Practice |
| Descriptive scope: | 3 PCT |
N.B. Descriptive scope is a count of how many of the five facets of empirical research are indicated by the words used in title, abstract and keywords. It is not intended as a judgement on the research; merely a count of the kind of word we would expect to indicate Phenomenon, Concepts, Theoretical framing, Empirical techniques, Analytical techniques. If all five are present, then a code of “5 PCTEA” will indicate this. If you feel the coding for this record is questionable, we welcome discussion around the terms we matched or the way we categorized them. The facet you would expect may not be coded, or a facet may be coded inappropriately. This can also bear on a larger question, of which facets should be treated as defining in construction management research. Please get in touch, and we will look at it. More details here