Design and Development of a Low-Cost Robotic Platform for STEM Education of an Automatic Control System: Rotary-Type Double Inverted Pendulum Case

Abstract

In Thailand STEM education, teaching of robotics or automatic control in undergraduate is limited to the theoretical textbook s or computer simulation due to inadequate control plants for classroom demonstrat ion and laboratory experimentation. This crucially prevents students to understand the gap s or limitation s between the theory and the real-world problem. Thus, this research is aimed to design and develop the robotic platform, which is the rotary -type double inverted pendulum, by considering low fabrication cost, easy part maintenance and safety. Also, the platform permits the students to design the Linear Quadratic Regulator (LQR) controller and imp lement it for balancing the robot.