Conceptual Mechatronics Design and Prototyping of Autonomous Inverted Pendulum-System applied on Two-Wheeled Mobile Robot

Vega W.; García J.D.; Mollan K.; Mori K.; Solis A.; Machaca J.; Cornejo J. · 2023 3rd International Conference on Advances in Electrical, Computing, Communication and Sustainable Technologies, ICAECT 2023 (2023) · DOI: 10.1109/icaect57570.2023.10118071

Resumen

In recent years., there has been an increase in consumption in restaurants and added to the recent health crisis., the process of eliminating and transferring food will require the need to look for alternatives that allow operations and food safety to continue. For this reason., the Faculty of Mechatronics Engineering of the San Ignacio de Loyola University established a scalable project that allows food and beverages to be transported to the different diners through a 3D printing mechatronic system., preventing transport from being affected. The inverted control pendulum which will be in charge of performing the function of a robot moves from one place to another in the restaurant to be able to speed up all shipments and requested orders. The system is a servomechanism that consists of a moving vehicle and on it is mounted a straight vertical support that can rotate freely by means of a joint attached to the mobile base. For example., the arduino NANO and the L298N circuits are linked to obtain the desired robot that will be used in restaurants. In conclusion., a system capable of controlling a nonlinear model through a feedback control system was created; consequently., the next step is to build the full-scale prototype and test it in restaurants. This must have the function of being fast and effective., at the time of performing the function that is going to be programmed by means of programming language and be light to achieve good maintenance of the equipment and effective to move without problems to any place.

Instituciones: Universidad San Ignacio de Loyola