BİR TOP-ROBOT'UN TASARIMI, MODELLENMESİ VE DENEYSEL İNCELENMESİ

Yıl 2025, Cilt: 13 Sayı: 4, 1165 - 1177, 30.12.2025

Hazin İnci , Hüseyin Deniz Öztürk , Erman Selim , Enver Tatlıcıoğlu

https://doi.org/10.21923/jesd.1772624

Öz

Bu çalışmada, top-robot sisteminin temel yapısı, dinamikleri ve hareket kabiliyetleri deneysel olarak incelenmiştir. Sistem tasarımında eyleyici olarak adım motorlar, tekerlek olarak tek sıra tüm yönlü tekerlekler ve kontrol birimi olarak STM32 mikrodenetleyici kullanılmıştır. Tekerlekler, aralarında 120°’lik açı ve zenit açısı da 45° olacak şekilde konumlandırılmıştır. Sistemdeki Atalet Ölçüm Birimi (IMU)’dan elde edilen Euler açıları verileri, doğruluğu artırmak amacıyla Genişletilmiş Kalman Filtresi (EKF) ile işlenmiştir. STM32 üzerinde çalışan çoklu görevlerin yönetimi ve performans takibi için iş parçacığı öncelikleri ve yürütme süreleri osiloskop kullanılarak izlenmiştir. Top-robot’un kinematik modeli çıkarılıp hem dengeleme hem de konum takibi için bir Oransal Türevsel (PD) denetleyici yapısı kullanılmıştır. Eğim hatasını dengelemek ve robotu istenen yöne sürmek amacıyla iki PD bileşeni toplamı uygulanmıştır. Gerçekleştirilen deneyler, sistemin dengede kalma yeteneğini ve kontrol algoritmasının etkinliğini başarılı bir şekilde göstermiştir. Çalışma, teorik modellerin ve PD kontrol stratejisinin pratikte uygulanabilirliğini doğrulamakta ve deneysel bir referans sağlamaktadır.

Anahtar Kelimeler

Top-Robot , PD Kontrol , Denge ve Koordinat Takibi , Genişletilmiş Kalman Filtresi , Robot Kinematiği

Etik Beyan

Yazarlar tarafından herhangi bir çıkar çatışması beyan edilmemiştir.

Destekleyen Kurum

Türkiye Bilimsel ve Teknolojik Araştırma Kurumu (TÜBİTAK)

Proje Numarası

121E296

Teşekkür

Bu çalışma Türkiye Bilimsel ve Teknolojik Araştırma Kurumu (TÜBİTAK) tarafından 121E296 numaralı hibe ile desteklenmiştir. Yazarlar desteklerinden dolayı TÜBİTAK'a teşekkür eder.

DESIGN, MODELING AND EXPERIMENTAL INVESTIGATION OF A BALLBOT

Öz

In this study, the fundamental structure, dynamics and motion capabilities of the ballbot system were experimentally investigated. Stepper motors were used as actuators, single-row omniwheels as the wheels and an STM32 microcontroller as the main control unit in the system design. The wheels were positioned at an angle of 120° between each other and at a zenith angle of 45°. Euler angle data obtained from an Inertial Measurement Unit (IMU) in the system were processed using an Extended Kalman Filter (EKF) to improve accuracy. Task priorities and execution times of the multitasking running on the STM32 were monitored with an oscilloscope to manage and track performance. The kinematic model of the ballbot was derived and a Proportional Derivative (PD) controller structure was employed for both balance and position tracking. To compensate for tilt error and drive the robot toward the desired direction, the sum of two PD components was applied. Experimental results successfully demonstrated the system’s ability to maintain balance and the effectiveness of the control algorithm. The study validates the practical applicability of theoretical models and the PD control strategy and provides an experimental reference.

Anahtar Kelimeler

Ballbot , PD Control , Balance and Coordinate Tracking , Extended Kalman Filter , Robot Kinematics

Etik Beyan

No conflict of interest was declared by the authors.

Destekleyen Kurum

Scientific and Technological Research Council of Türkiye (TÜBİTAK)

Proje Numarası

121E296

Teşekkür

This study was supported by Scientific and Technological Research Council of Türkiye (TÜBİTAK) under the Grant Number 121E296. The authors thank to TÜBİTAK for their supports.

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