000			03766nas a2200409 a 4500
005			20260818090720.0
008			230224s2020 th a ||| 000 eng d
035			_a.b12400300
099		9	_aAIT Thesis no.ISE-20-11
100	1		_aBiswa, Deo Raj
245	1	0	_aDevelopment of a segway-type forklift
260			_aPathumthani : _bAsian Institute of Technology, _c2020
300			_a78 leaves : _bill.
490	1		_aThesis; _vno.ISE-20-11
500			_aA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics Engineering, School of Engineering and Technology
502			_aThesis (M. Eng.) -- Asian Institute of Technology, 2020
520			_aThis 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.
650		0	_aRobots _xMotion
650		0	_aForklift trucks
650		0	_aRobots _xControl systems
700	0		_aManukid Parnichkun, _eChairperson
700	0		_aMongkol Ekpanyapong, _eExamination Committee
700	0		_aPisut Koomsap, _eExamination Committee
710		2	_aAsian Development Bank-Japan Scholarship Program (ADB-JSP), _eScholarship Donor
810	2		_aAsian Institute of Technology. _tThesis; _vno.ISE-20-11
856	4	0	_3Full-Text _uhttp://203.159.5.9/ait-thesis/detail.php?q=B18347
907			_a.b12400300 _bmnait _cm
902			_a250411
998			_b0 _c230224 _dm _ea _fm _g0
945			_lmnarc
945			_lmnarc
942			_c40
942			_c67
909			_aBarcode : 30050121041262 _bCREATED : 2023-02-21 _cRECORD # : i13434202 _dLPATRON : 0 _eLCHKIN : - _f# RENEWALS : 0 _g# OVERDUE : 0 _hIUSE3 : 0 _iTOT CHKOUT : 0 _jTOT RENEW : 0
909			_aBarcode : - _bCREATED : 2023-02-21 _cRECORD # : i13434214 _dLPATRON : 0 _eLCHKIN : - _f# RENEWALS : 0 _g# OVERDUE : 0 _hIUSE3 : 0 _iTOT CHKOUT : 0 _jTOT RENEW : 0
999			_c28947 _d28947