| The Pendulum Robot is a benchmark mechatronic device for research in nonlinear control and robotics and for use in control engineering education. It consists of two rigid links interconnected by revolute joints. The first joint is actuated by a DC-motor and the second joint is under actuated. Using the Pendubot, one can investigate system identification, linear control, nonlinear control, optimal control, learning control, robust and adaptive control, fuzzy logic control, intelligent control, hybrid and switching control, gain scheduling, and others.; The purpose of this thesis is to design and build a new Pendubot controller interface board. This board will serve as an interface between the Pendubot and the PC, managing all data acquisition and digit to analog conversion. The approach taken in this design is to use USB interface for the device to communicate with the PC. In the thesis, a detailed description of circuit design for the Pendubot controller interface board is presented. The board has been designed that minimizes the amount of PC resource used, simplifies hardware installation, and reduces the cost.; A prototype of the controller interface board is made. Control algorithms for balancing the link at top and mid position are implemented on this new Pendubot controller interface board. The experimental results demonstrate that this newly designed controller interface board can work well and have high commercial values. |
