03766nas a2200409 a 4500 20260818090720.0 230224s2020 th a ||| 000 eng d .b12400300 AIT Thesis no.ISE-20-11 Biswa, Deo Raj Development of a segway-type forklift Pathumthani : Asian Institute of Technology, 2020 78 leaves : ill. Thesis; no.ISE-20-11 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. Robots Motion Forklift trucks Robots Control systems Manukid Parnichkun, Chairperson Mongkol Ekpanyapong, Examination Committee Pisut Koomsap, Examination Committee Asian Development Bank-Japan Scholarship Program (ADB-JSP), Scholarship Donor Asian Institute of Technology. Thesis; no.ISE-20-11 Full-Text http://203.159.5.9/ait-thesis/detail.php?q=B18347 .b12400300 mnait m 250411 0 230224 m a m 0 mnarc mnarc 40 67 Barcode : 30050121041262 CREATED : 2023-02-21 RECORD # : i13434202 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : - CREATED : 2023-02-21 RECORD # : i13434214 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 28947 28947 0 0 0 0 MAIN MAIN mnarc 2026-08-18 0 AIT Thesis no.ISE-20-11 30050121041262 2026-08-18 09:07:20 1 2026-08-18 40 0 0 0 0 MAIN MAIN mnarc 2026-08-18 0 AIT Thesis no.ISE-20-11 2026-08-18 09:07:20 2026-08-18 67