A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics Engineering, School of Engineering and Technology

Thesis (M. Eng.) -- Asian Institute of Technology, 2020

This thesis report on Segway Type forklift presents the application of the well-known classical control problem of inverted pendulum adhered to two wheeled balancing robots with forklift mechanism. It is also true that hundreds of studies have been conducted on similar concept of technology and this is no exception however, the complexity is added to it by making it transporter as well as a material handling device. Therefore, this is a device/robot developed to find its application in material handling and transportation of person over short distance focusing on to reduce the congestion as well as the pollution in various aspects as compare to other platform and to increase the productivity of a ware house. To develop it modelling of the system is presented based on the Newton{u2019}s 2nd law of motion which gives two dynamic equations based on linear and Agular position and velocities, however this system applies to angular position and rate. And angular position as well as angular rate are measured using IMU sensor. Further, PID feedback control remains the most popular controller in the industry arena, due to its least complexity to implement makes it viable, thus, closed-loop PD controller algorithm is used for balancing the Segway forklift system with angle feedback from the IMU sensor. Though, several literatures and text recommend using various tuning methods but then tuning for this system controller is achieved through trial and error method. This system has achieved the load carrying capacity up to 2kg while in balanced position however, for various test and analysis 1kg load was used. And its motion to move forward, backward, left and right turn is controlled by nRF24L01 RC remote controller and forklift motion is controlled by bluetooth joystick app and HC-06 bluetooth module. Lastly, in the end of this report, it presents the various tests result based on the real time experiment performed and analyzed using MATLAB software.