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3 International Journal of Applied Mechanics and Engineering

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Modeling of two-wheeled self-balancing robot driven by DC gearmotors

Frankovsky P., Dominik L., Gmiterko A., Virgala I., Kurylo P., Perminova O.

International Journal of Applied Mechanics and Engineering

2017

Vol. 22, no. 3

739--747

This paper is aimed at modelling a two-wheeled self-balancing robot driven by the geared DC motors. A mathematical model consists of two main parts, the model of robot’s mechanical structure and the model of the actuator. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state-space realization for the purpose of state feedback controller design.

The use the of digital image correlation in a strain analysis

Frankovsky P., Virgala I., Hudak P., Kostka J.

International Journal of Applied Mechanics and Engineering

2013

Vol. 18, no. 4

1283--1292

This paper provides a description of the basic principles and procedures that can be found in strain measurements by means of an experimental method known as the digital image correlation (DIC) while using the correlation system Q-400 and the evaluation software Istra4D. The second part of the paper includes the application of DIC method in strain measurements on a sample made of a PS-1A photoelastic material while using the correlation system Q-400.

A concept of the differentially driven three wheeled robot

Kelemen M., Colville D. J., Kelemenova T., Virgala I., Mikova L.

International Journal of Applied Mechanics and Engineering

2013

Vol. 18, no. 3

687--698

The paper deals with the concept of a differentially driven three wheeled robot. The main task for the robot is to follow the navigation black line on white ground. The robot also contains anti-collision sensors for avoiding obstacles on track. Students learn how to deal with signals from sensors and how to control DC motors. Students work with the controller and develop the locomotion algorithm and can attend a competition.