SMALL-SIZED UNIAXIAL TWO-WHEEL ROBOT FOR EDUCATIONAL LABORATORY.

This article is dedicated to the development of the uniaxial two-wheel robot (UTR) constructed as the upper pendulum. This robot is intended to be used as a simple and inexpensive model for robotic engineering laboratory classes. Such robot can be used for educational purposes in higher education institutions, as well as in robotic engineering courses in schools and supplementary education institutions. Experimental UTR unit and its general specifications have been developed. The article describes the synthesis of UTR's simplified mathematical model, control system and hardware composition. It is proven that the simplified equations are correct. In addition, it presents the algorithms of driving engines torque formation based on measurements of sensors with various physical nature and different filtration methods. Possible data merging variants' diagram is presented. In the process of the half-full scale modelling, the researching of robot movements was conducted simultaneously with the recording of primary information from all measuring systems. As a defined motion, the stabilisation concerning the horizon from the position when the rotation angle of a platform was 40 degrees has been chosen. It has been determining that the robot's engines can enhance torque ranging from 0.05 to 0.22 Nm. The combination of the described mathematical model, control algorithms and specific features of certain structural components ensure the efficiency of UTR application in the educational process. Several UTR control system variants are described, and the simulation results are presented. The article also includes the results of hardware simulation. [ABSTRACT FROM AUTHOR]